British actor Geoffrey Palmer, known famously for his roles in As Times Goes By and sitcom The Fall and Rise of Reginald Perrin, has died aged 93.

The movie and television star passed away peacefully at home, his agent revealed, according to the BBC. Palmer will be remembered fondly for his role in sitcom As Time Goes By, which is starred in alongside the famous Dame Judi Dench.

The romantic comedy series ran from 1992 and 2005 and followed the story of former lovers who married after meeting later in life. Meanwhile, he also starred in Fawlty Towers, Doctor Who and The Fall and Rise of Reginald Perrin. 

Speaking about her friend and former colleague Dench told the BBC Radio 4 Front Row programme Palmer was a “master of comedy, an absolute master”. Adding: “I’ve admired him all my life. How lucky to have been in something with him for so long”.

While actress Wendy Craig, who starred alongside Palmer in Butterflies said he was “just a delight to work with” and a “full of fun” person.

“When he laughed and when he smiled his whole face lit up, his eyes twinkled,” she told the programme, according to the BBC. “He was always up for a laugh and not a heavy-going serious person at all.”

Others took to social media to pay tribute to Palmer, including actor Eddie Izzard who said he was honoured to work with the star throughout his career.

“Very sad to hear that Geoffrey Palmer has left us. I was very excited to meet him once and then had the honour to act with him in the film Lost Christmas,” he wrote on Twitter. “His work will stay with us and through that he can live on forever. Good work sir. Rest in peace.”

Meanwhile actress Miranda Hart said: “So sad to hear about Geoffrey Palmer. One of my first jobs was playing his daughter in a Radio 4 series. I was permanently pinching myself. His kind of genuine warmth is a rare quality. Thanks Geoffrey. Us fans felt you were our friend and we loved you.”

And fan @AlexBestfanMatt added on Twitter: “Goodbye Geoffrey Palmer. Thank you for all the laughs you had given us over the years as Jimmy Anderson in The Fall and Rise of Reginald Perrin, Ben Parkinson in Butterflies, Doctor Price in Fawlty Towers and as Lionel Hardcastle in As Time Goes By.”