His agent Sally Long-Innes said: “This is to confirm that very sadly Peter Vaughan passed away at approximately 10.30 this morning. He died peacefully with his family around him.”
Vaughan began acting in the 1950s and became a recognisable face by playing numerous mainly supporting roles on stage, television, radio and film.
Vaughan described himself as a character actor, saying he did not have the looks to play romantic leads.
“If you’re a character actor, you don’t need to wait for the next leading role,” he once said.
“They talk about actors resting. The only time I have ever rested in my 77 years as an actor has been when I’ve wanted to. Lucky, lucky, lucky.”
Those paying tribute included Blackadder actor Tony Robinson, who wrote on Twitter: “An amazing actor. I’ll never forget his performance in Our Friends in the North.”
Actress Kathy Burke posted a photo of Vaughan with Ronnie Barker in Porridge alongside the words: “Beautiful Peter Vaughan.”