The short answer, explained
It's understandable to worry about prison once you realise income wasn't declared, but the reality is that HMRC resolves the overwhelming majority of these cases civilly, not criminally.
A civil enquiry ends with you paying the tax that should have been paid, interest for the time it was outstanding, and a penalty based on your behaviour and disclosure. No court is involved.
Criminal investigation and prosecution are reserved for cases HMRC regards as the most serious: sustained, deliberate fraud, often involving false documents, third parties, or very large sums, where a civil penalty wouldn't reflect the wrongdoing.

