She died "peacefully at home", her agent said.

Mantle starred as Jean Warboys, the annoying friend of Victor Meldrew's wife, in One Foot In The Grave.

She also appeared in the BBC detective series Father Brown, as well as Doctors.

Mantle also played Joy Fishwick in ITV soap Coronation Street.

Her other credits include My Family, Dirk Gently, Jam And Jerusalem, Doc Martin, Jonathan Creek and Yentl.

She won an Olivier Award in 1979 for her role in Death Of A Salesman in the National Theatre.

Mantle also featured in her one-woman show My Truth and Reconciliation, and appeared in 84 Charing Cross Road at The Ambassadors Theatre, as well as classic comedy Billy Liar at the Duke of York's Theatre.

Read more entertainment news:
This Morning staff 'faced bullying' after reporting show's toxic working culture
More complaints about Lizzo being investigated in wake of lawsuit

David Renwick, who wrote One Foot In The Grave, said he is "dreadfully saddened" by the news of Mantle's death.

He said in a statement: "She had been in poor health for some time, but you wouldn't have bet against her soldiering on to a hundred - she was such a trouper, so stoic and resilient to the end.

"No-one else could have played Mrs Warboys as she did, it was such a perfect fit, and the honesty that she brought to every line, however bizarre, was what made the character so funny and legitimised even the maddest of moments.

"There was never the remotest suggestion that she was playing comedy: in her hands it was all utterly real, because of course she was, at root, a superb and consummate actress. I shall miss her terribly - but thank God for all those wonderful laughs she's left us."

Confirming Mantle's death, her agent said: "It is with great sadness that we announce the death of our beloved client and much-loved stage, screen, and radio actress Doreen Mantle, aged 97.

"She died peacefully at home. She is survived by her two sons, four grandchildren and one brother."