Actor Peter Sallis, who was best known as for roles in Last of the Summer Wine and animated cartoon Wallace and Gromit, has died at age 96.

He died peacefully on Friday with his family by his side, his agents Jonathan Altaras Associates said in a statement.

"It is with sadness that we announce that our client Peter Sallis died peacefully, with his family by his side, at Denville Hall on Friday, June 2.," they said.

Mr Sallis became a household name in the UK as mild-mannered Norman Clegg in the comedy Last Of The Summer Wine, Britain's longest-running sitcom.

But his role playing loveable inventor Wallace in Nick Park's animated films made his voice known around the world.

Mr Sallis was born in Middlesex, and initially had little interest in drama, signing up for a career in banking.

It was the Second World War that changed the course of his life.

He joined the RAF, but failed his aircrew medical and instead became a radio instructor in Lincolnshire.

It was there that he began taking part in amateur shows and quickly realised he had found his calling.

He appeared opposite Laurence Olivier, John Gielgud and Orson Welles, but it was Last of the Sumer Wine that marked his big break.

His work in Wallace and Gromit brought him an even bigger audience - and a role in an Oscar-winning series.

Mr Sallis was made an OBE for services for drama in the Queen's nbirthday honours in 2007.

He said at the time: "I don't even dream about these things, which is probably just as well.... but it means a lot to me."