The actor, who was 99, was the voice of Grandpa Pig, the Daleks and Lady Penelope's butler Parker.

For today’s generation of children, his voice will be instantly familiar as that of Grandpa Pig, in the Peppa Pig series.

Previously, for nearly two decades he created the sound of the evil Daleks in the long-running sci-fi show Doctor Who – adopting a staccato style and then feeding his voice through a synthesiser.