Clive – who played Richard Bucket, the downtrodden husband of the indomitable snob Hyacinth – died on Friday, his agent Roxane Vaca confirmed.
In a statement sent to HuffPost UK, she said: “After a short illness, Clive died peacefully at home this morning surrounded by his family.”
Clive was a classically trained actor, and also appeared in BBC sitcoms The Old Guys, Born And Bred and Cuckoo.
Doctor Who fans may also remember his appearance in an episode of the original series in 1985, before playing a different character in the 2007 Christmas special of the revived series.
Clive’s last credited TV role was in 2017, when he appeared in an episode of Midsomer Murders.
He began his career in the Royal Shakespeare Company and enjoyed roles in the likes of Henry V, The Merry Wives of Windsor, All’s Well That Ends Well, Macbeth and King Lear.
He made a name in films as he took on the role of Sir Ector, King Arthur’s adoptive father, in John Boorman’s 1981 movie Excalibur.
In addition to his work on stage and screen, Clive also appeared in a number of radio plays.
Clive’s daughter Rebecca died in 2017. He is survived by his two sons Adam and Joe, and by his four grandchildren, Danny, Lillie, Stanley and Connie.