Actor Geoffrey Palmer, acclaimed for his contribution to both British TV and film, has sadly died aged 93.

In his best-known role, Palmer starred alongside Judi Dench on As Time Goes By, with the pair reuniting in the 1997 Bond film Tomorrow Never Dies.

From 1992 onwards, Palmer acted alongside Dench's Jean Mary Hardcastle for over a decade in the long-running series, playing Lionel Hardcastle.

The series saw the actors play an older couple who ended their relationship when they were young, only fall in love again later in life.

In Tomorrow Never Dies, he played Admiral Roebuck, a Royal Navy colleague to the mysterious M, played by Dench.

Acclaimed actor Geoffrey Palmer has died aged 93

Palmer was also widely regarded for his roles on sitcoms such as Butterflies and The Fall and Rise of Reginald Perrin.

Over the course of his career, he enjoyed smaller roles in major shows such as The Avengers, Doctor Who and a one-off episode of Fawlty Towers.

He also branched into the world of film, with roles in blockbuster flicks such as A Fish Called Wanda and Mrs Brown.

Palmer received an OBE in 2004, paying tribute to his services to drama after a career that spanned six decades.

Dench and Palmer famously starred together in the 90s sitcom As Time Goes By

In 2018, Dench presented Palmer with the "Oldie of the Year" award at the annual ceremony, branding the actor as the “naughtiest man I have ever worked with”.

Speaking to blog The Oldie last year, Palmer opened up about his career, revealing he always had his priorities straight when it came to a work-life balance.

He said: "Once I was offered a super part in a film – but the date clashed with fishing in Scotland.

"My son Charlie said, 'Dad, you’ve been working for sixty years – do the fishing.' So I did. And the film wasn’t any good, anyway."

Palmer is survived by his wife of 57 years Sally Greene

Palmer spent the later part of his life living in the small town of Old Berkhamsted, Hertfordshire, where he enjoyed the peacefulness of the surroundings with his wife by his side.

He is survived by his wife of 57 years Sally Greene, with the couple having raised a son and daughter together.