He also played Henry VII in the BBC comedy Blackadder and most recently appeared in two episodes of hospital drama Casualty.
Benson was best known for playing the funeral director Bernie Scripps in the long-running ITV police drama.
He appeared in all of the show’s 18 series during its run from 1992 to 2010.
Lisa Kay, who played the character Emma Bryden on the show, wrote on Twitter: “Such sad news that the wonderful Peter Benson has passed away.
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