All three are up for best film, alongside Sam Mendes’s 1917 and South Korean hit Parasite.
Scarlett Johansson and Margot Robbie are up for two acting awards each.
All the nominated actors are white, leading Bafta boss Amanda Berry to say she was “very disappointed” by the lack of diversity.
The Bafta ceremony will take place on 2 February at the Royal Albert Hall in London, hosted by Graham Norton.
The leading Bafta nominees
11 – Joker
10 – The Irishman
10 – Once Upon a Time… in Hollywood
9 – 1917
6 – Jojo Rabbit
See the nominations in full
Joaquin Phoenix will be the favourite for best actor for his role in Joker, which tells the origin story of Batman’s nemesis and has divided some critics and audiences.
It’s 11 years since Heath Ledger won a posthumous Bafta for playing the same character in The Dark Knight.
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But Phoenix will face competition from stars including Taron Egerton, who played Sir Elton John in Rocketman, as well as Leonardo DiCaprio for Once Upon A Time…, Adam Driver for Marriage Story and Jonathan Pryce for The Two Popes.
Margot Robbie is up against herself in the best supporting actress category for roles in Bombshell and Once Upon A Time…
That category also includes Scarlett Johansson for Jojo Rabbit, while she is also up for best actress for her role opposite Driver in Netflix’s divorce drama Marriage Story.
The other best actress nominees are Renee Zellweger for playing Judy Garland in Judy, Jessie Buckley for Wild Rose, Charlize Theron for Bombshell, and Saoirse Ronan for Little Women.
But there is no room for Little Women film-maker Greta Gerwig in the best director category – making it the seventh year in a row that no female directors have been nominated.
Bafta winners and nominees in most categories are voted for by 6,500 Bafta members, who are industry professionals and creatives around the world.
The nominations come after a stellar night for British talent at the Golden Globes on Sunday.