The actor Simon Ward, who starred in BBC legal drama Judge John Deed and as Bishop Gardiner in The Tudors, has died after a long illness, his management company said.
The star of stage and screen had his wife Alexandra and three daughters at his side when he died "peacefully" on Friday.
Ward had appeared as Sir Monty in BBC legal drama Judge John Deed and as Bishop Gardiner in The Tudors.
He also had roles on the big screen in Zulu Dawn and Young Winston.
The statement from Shepherd Management said: "The son of a car salesman from Beckenham, Kent, Ward wanted to be an actor from an early age and joined the National Youth Theatre at the age of 13 and stayed there for eight years.
"Ward went on to train at RADA and became one of the most respected and admired actors of his generation.
"His big break in the theatre came in 1967 when he played the lead in Joe Orton's play Loot which led to television and film work.
"In 1972 he played the title role of Winston Churchill in Young Winston. This role brought him international prominence and Ward starred in many high-profile films throughout the 70s and 80s."
Some of Ward's other film roles were in The Three Musketeers, All Creatures Great and Small, Supergirl and Hitler: The Last Ten Days.
In more recent years, Ward had "worked tirelessly" in the theatre, touring the country with The Madness of George III and An Ideal Husband.
Ward, 70, leaves his wife and daughters Sophie, Claudia and Kitty. He died at a UK hospital, Shepherd Management added.
Ward was paid tribute to by fellow thespian Susan Penhaligon, who had performed with him in The Madness of George III
Actress Susan Penhaligon paid tribute to Ward, describing him as a "loyal and sympathetic" friend.
Ms Penhaligon starred alongside Ward in what she believes was his last stage performance in the The Madness of George III.
She said: "He was a witty, frighteningly clever and handsome, complex man who I worked with a lot.
"He was extremely loyal and sympathetic, and could be a very good friend. I feel sorry that he is gone.
"I played his wife in what I think was his last stage performance, The Madness of George III. He had such joy for Alan Bennett's language and I'm very happy that I was in that play with him in which he triumphed. It was only 18 months ago.
"He showed such courage because I think he was ill then; he was a very courageous man."
The Madness of King George III ran for around three months in 2010. The pair had also performed alongside each other in two previous plays, including Dangerous Obsession in the 1980s..