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British character actor Geoffrey Palmer – whose genre work included the James Bond film Tomorrow Never Dies as well as Doctor Who – has died aged 93.

The BBC report that Palmer died peacefully at home.

His career spanned five decades, with appearances in The Strange World of Gurney Slade, The Avengers and The Saint in the 1960s, two appearances in Doctor Who in the 1970s and a return in the 2007 Christmas special, and The Goodies and Whoops Apocalypse in the 1980s. More recently, he was in Stig of the Dump and Ashes to Ashes. On film, he played Admiral Roebuck alongside his screen partner Judi Dench in Tomorrow Never Dies, and made a brief appearance in the first Paddington film.