In 1972, Samuels was appointed a Judge of the Supreme Court of New South Wales, being elevated to the Court of Appeal in 1974. As a Judge of Appeal until 1992, and as an Acting Judge afterwards until 1993, he participated in many of the leading decisions of that court. On Samuels time as a Judge, Justice Michael Kirby commented: "His talents as an appellate judge shone brightly. No judge was more gifted in delivering accurate and elegant ex-tempore reasons immediately following argument. He displayed a command of facts and law and the well-furnished mind that he brought to the resolution of every judicial problem."