He's also known for playing Leopold in the Oscar-winning 1984 film Amadeus.
Roy Dotrice, who has died at 94, was among the finest character actors of his generation, at home on stage and screen, in light comedy and dark drama, and on both sides of the Atlantic.
Dotrice is remembered for his role in the CBS TV series "Beauty and the Beast" and won a BAFTA best TV actor award in 1969 for his role in "Misleading Cases". He starred as John Aubrey in Patrick Garland's "Brief Lives", about the 17th-century British writer and his accounts of the lives of illustrious men of his era.
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Mr Dotrice joined the Royal Air Force and served during World War Two as a wireless operator and air gunner. But more impressively, he also read the audiobooks for George R.R. Martin's A Song of Ice and Fire, and holds the Guinness World Record for the most characters voiced by a single actor in an audiobook - 223 in the saga's first novel, A Game of Thrones, the audiobook for which is 33 hours long.
His family said in a statement that he died "peacefully on Monday October 16 in his London home surrounded by family, including his three daughters, grandchildren and great-grandson", reports The Sun. One year later he was shot down over enemy lines and spent the rest of the war in German PoW camps.
In 2008, Dotrice was made an Officer of the Most Excellent Order of the British Empire by Queen Elizabeth II.
Dotrice was married to fellow actress Kay Newman until her death in 2007.