Popular TV actor Peter Gilmore has died in London after suffering from a long illness.

The 81-year-old was well known in the world of film and television, having taken on numerous roles in some of the UK's top TV dramas throughout the 1970s and 80s. He got his first big break playing Sir Waldo of Ivanhoe in the popular TV drama of the same name in 1958. Gilmore's most famous role was that of James Onedin in The Onedin Line, a 1970s drama that charted the rise of a Liverpool based shipping line in the 1800s. He starred in 91 episodes of the popular series and even went on to marry his on-screen wife.

He also starred in a number of the Carry On films and made an appearances in Dr Who, The Persuaders!, Ruth Rendell Mysteries and Heartbeat to name but a few. He is survived by his third wife, actress Anne Stallybrass.