He also played Corporal Perkins in ‘Blackadder Goes Forth’, set during World War 1.
Hardy’s last tweet, posted on 8 January, was a dig at the former PM, Tony Blair.
In a statement, Emery added: “Friends and family of comedian Jeremy Hardy are immensely sad to announce that Jeremy died of cancer, early on Friday 1st February.
“He was with his wife and daughter as he died. He retained to the end the principles that guided his life; trying to make the world more humane, and to be wonderfully funny.
“He will be enormously missed by so many, who were inspired by him and who laughed with him. A fitting memorial will take place, details to be announced soon.”
Fellow comedians and entertainers paid tribute to Hardy on Twitter. ‘Pointless’ host Richard Osman said he was “so naturally brilliant and funny”.
Comedian Angela Barnes, who has appeared on both The News Quiz and Mock The Week, wrote on Twitter: “Utterly heartbroken to have to say goodbye to Jeremy Hardy.
A tweet from the account of Radio 4 said he was “one of the funniest people around”.
Hardy is survived by his wife, Katie, and his daughter, Elizabeth.