Minder co-star Dennis Waterman said: “I am so sad to hear of George’s death. His family must be devastated and I am absolutely certain that anybody who ever knew him will feel the same.
“I’m so grateful to have been a friend of this wonderful man. We worked together for many years and my boast is that we laughed all day, every day.
“He was an amazing man, a wonderful actor, besotted with his family. I had the privilege of spending Tuesday afternoon with him and Penny and, although very frail, his wit was as evident as ever. Farewell, old friend.”