Louis Mahoney, known for his role in a controversial episode of Fawlty Towers, has passed away at the age of 81.

The Gambian-born British actor was a life-long anti-racism campaigner and was one of the first black actors to join the Royal Shakespeare Company in the 1960s.

In a statement announcing his death, Mahoney's agents Waring and McKenna said: "It is with great sadness that we announce the passing of our wonderful client, Louis Mahoney. Louis paved the way for many actors who followed: a lifelong activist and champion of antiracism.

"His warmth and good humour will be sorely missed. A celebration of his life will follow."

In 1975 Mahoney appeared as a doctor looking after Basil in the controversial 'The Germans' episode of Fawlty Towers, which was recently temporarily removed from UKTV's on-demand service due to concerns over racial insensitivity.

Mahoney also starred in the acclaimed 2007 Doctor Who episode 'Blink' as well as films including Cry Freedom and Omen III: The Final Conflict.