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Actor Martin Shaw has called his Judge John Deed co-star Sir Donald Sinden 'a walking life force'.
Paying tribute to Sir Donald, Shaw said: "He's one of those people you just talk about with laughter and affection, and we all have our Donald impersonation to accompany our stories of him.
"He was a walking life force and it was impossible to be with him for more than a few minutes without roaring with laughter.
"I remember him with the deepest affection from the early sixties when as a student I saw him at the Royal Shakespeare Company, through to our years together on Judge John Deed. We've lost one of the greats.
The Royal Shakespeare Company has said it is "saddened" to hear the news of the death of Sir Donald Sinden.
Sir Donald performed with the RSC in leading roles such as King Lear and Malvolio in Twelfth Night. His last appearance with them was as part of a special performance in 2007.
He also had more than 70 credits for film and TV productions.
Paying tribute Gregory Doran, RSC Artistic Director, said: "Donald liked to say that “Man cannot live by Bard alone”, and his extraordinary career outside the RSC in films, and television will no doubt be amply recorded elsewhere."
He added: "One thing of which you can be certain, is that all over the country this morning, people are regaling each other with one or other hilarious Donald Sinden anecdote, and that, alongside his great talent, is his wonderful gift to us all".
Sir Roger Moore, Paul Daniels and Miranda Hart are among those who have taken to Twitter to pay tribute to Sir Donald Siden.
The son of actor Sir Donald Sinden has paid tribute to his father and said his family would miss "his humour and knowledge".
In a statement, actor and film director Marc Sinden said: "Even though his death was expected, it is still a huge loss to his family and we, his brother, his son, his four grandchildren and great-grandchild will all miss his humour and knowledge and we would all like to share our appreciation for the Pilgrims Hospice and the carers that looked after him and us with such dignity, consideration and care until the end."
He added that plans for a memorial service were under way.
Theatre and film actor Sir Donald Sinden has died at his home aged 90, his son has said.
Sir Donald made his name on stage as a Shakespearean actor and also had more than 70 credits for film and TV productions since the late 1940s.
He had been battling prostate cancer over several years and his death, just weeks before his 91st birthday, at his home in Romney Marsh, Kent, has been described as a "huge loss" by his family.
Sir Donald trained at the Webber Douglas Academy of Dramatic Arts in London and made his film debut in 1953 with The Cruel Sea, later going on to perform with the Royal Shakespeare Company in leading roles such as King Lear and Malvolio in Twelfth Night.
Sir Donald was awarded a CBE in 1979 and was granted a knighthood in 1997 for his services to drama.