Samuels was later appointed a Judge of the New South Wales Court of Appeal in 1974, serving till his mandatory retirement in 1993, aged 70. A member of the University of New South Wales Council from 1969, Samuels was appointed Chancellor of the University of New South Wales in 1976, serving until 1994, being the longest-serving Chancellor. On retirement from law, Samuels became Chairman of the Law Reform Commission of New South Wales, a position he held until he was appointed governor in 1996. As Governor of New South Wales, he endured significant controversy over the decision not to reside in Government House, Sydney. Despite this he served with distinction and retired in March 2001. He died aged 84 in December 2007.