Chipo trained at the Royal Academy of Dramatic Art (RADA) in London and graduated in 2003. Her repertoire includes political theatre: Talking to Terrorists (Royal Court Theatre), The Overwhelming (Royal National Theatre) and Fallujah (in which she played Condoleezza Rice), as well as classical plays such as Phedre, in which she performed with Helen Mirren (Royal National Theatre), and Epidavros.
She is known in science fiction circles for her work in Doctor Who, in one episode playing the Master's assistant Chantho, and in another, a character called the Fortune Teller. Her first film credit was as the voice of Icarus in Danny Boyle's Sunshine, followed by appearances in In the Loop and Proof. Other television appearances include the drama The Last Enemy and as a reporter in the Sherlock second series episode "The Hounds of Baskerville".
In 2011 she had a recurring role as Vivian, the Lady of the Lake, in the medieval romance drama series Camelot.