An actor known for his roles in Doctor Who and Emmerdale died in his sleep on Christmas morning, his family have said.

Richard Franklin was 87.

In a statement, his family said: “Richard sadly died in his sleep after fighting long term illness.

“We are deeply saddened by his loss, we will fondly remember him for his generosity, creative spirit and fantastic story telling.

“He is also well remembered outside the family for his long running career in TV and theatre where he delighted audiences of all ages. This gave him great joy and we know his legacy will last.”

Franklin played Captain Mike Yates in the BBC sci-fi series, and was known for fighting off alien invasions.

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