In 1983, at age 18, Benjamin joined the Sadler's Wells Royal Ballet (now Birmingham Royal Ballet), and became a principal dancer in 1987. The following year, she joined the London Festival Ballet (now English National Ballet), directed by Peter Schaufuss, Vangsaae's son. In 1990, she moved to Deutsche Oper Ballet in Berlin, where Schaufuss went on to direct. In Berlin, she worked with choreographer Kenneth MacMillan on "Different Drummer". Encouraged by MacMillan, she joined The Royal Ballet as a First Soloist in 1992, making her company debut as Mary Vetsera in "Mayerling", though MacMillan died shortly before that performance. The following year, she was promoted to principal dancer.