If you are resident in the UK for more than 90 days per year over a rolling 4 year period, or 183 days in one particular year (thereabouts - you can find the exact criteria on
www.hmrc.gov.uk - there are other wrinkles, but this is the basics), then you are resident for tax purposes, and must pay income tax in the UK.
If you are earning money by consulting, for example, then strictly speaking your employer must set up a UK subsidiary to pay you. They must pay UK corporation tax on whatever profits their employee (you) generate for them in the UK. They must deduct NI and account for PAYE on your behalf.
If you are not actually generating income for your employer in the UK, merely working remotely for them, then there are three possibilities I see:
1. Your employer pays you in the UK and operate PAYE on your behalf. Not sure about NI.
2. You set up a ltd. company which costs less than £100. Your employer is now your client, and pays your ltd. company fees. From that you take a small salary - accounting for PAYE and NI yourself - and declare dividends every now and then (which you only pay income tax on - not NI). The contract must be drawn up to be a contract of services, not a contract for service, otherwise, you'll be caught by IR35, and all your income (less 5%) will be tax as salary.
3. You operate as a self-employed sole trader to your employer.
If you retain residency in Switzerland, then there may be additional liability - for example social contributions, or even income tax. However, there are tax treaties between the two countries, so you'll only be taxed at the higher rate of the two countries overall - most likely, the UK.
You and your company need
professional advice.