I've been listening to The History of Rome podcast. Episodes are short, around 20 minutes, so they fit neatly into my commute to and from work.

The podcast itself is exactly what you would expect, Mike Duncan starts at the beginning of the establishment of Rome as a kingdom, it's changeover to a republic and goes all the way through to the end of the fall of the Roman Empire.

https://thehistoryofrome.typepad.com/

Duncan's presentation is a bit on the dry side, so it takes some adjustment, but his dry delivery sometimes contrasts well with some of the ridiculous antics of some of Rome's more colorful emperors.