The screen and stage performer, whose career spanned more than 70 years, died peacefully at home on Sunday surrounded by relatives, according to a statement released by his family to the PA news agency.

He appeared in hundreds of films and television productions alongside his "rich and diverse" stage career, and was made a CBE for services to drama in 2001.

In a statement, his family said: "With his distinctive voice and commanding presence, Ackland brought a unique intensity and gravitas to his roles.

"He will be remembered as one of Britain's most talented and beloved actors."

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The actor was also a "beloved father" and was married to wife Rosemary for 51 years before she died from motor neurone disease in 2002.

Ackland had seven children, 34 grandchildren and 30 great-grandchildren.