Actor Geoffrey Palmer, known for shows such as As Time Goes By and Butterflies, has died "peacefully" at home aged 93, his agent has announced.

As Time Goes By, a sitcom that aired on the BBC between 1992 and 2005, starred Palmer and Dame Judi Dench as two former lovers who reunited after almost 40 years apart.

Palmer went on to appear opposite Dench again in the James Bond movie Tomorrow Never Dies - just one role on a CV spanning spanning seven decades.

Other notable parts included several different roles in Doctor Who, 'The Kipper and The Corpse' episode of Fawlty Towers, The Rise and Fall of Reginald Perrin, The Saint and The Avengers.

Palmer is survived by wife Sally Green and their two children.