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Actor Geoffrey Palmer, known for his roles in such sitcoms as Butterflies, As Time Goes By and The Fall and Rise of Reginald Perrin, has died aged 93.

He died peacefully at home, his agent said.

Versatile and prolific, he was known and loved for his hangdog expression, lugubrious delivery and the often testy demeanour he gave to his characters.

He also acted in Mrs Brown, again with Dench, and The Madness of King George.

He was made an OBE in 2004 for services to drama.