(Geoffrey Palmer is pictured with his wife Sally and daughter Harriet. Photo: Getty Images)

Geoffrey Palmer, film and TV actor, has passed away at the age of 93. He died peacefully in his sleep, according to BBC News. 

He's known for a number of roles, but his most popular may be As Time Goes By, which started airing in the U.S. on PBS in 1992. He starred opposite Dame Judi Dench, with the two playing former lovers who reunite many years later.

He worked with Dench several more times, collaborating on 1997's Mrs. Brown, 1997's Tomorrow Never Dies and again in 2012 for The Hollow Crown.

In addition to As Time Goes By, Palmer starred in other popular sitcoms like Butterflies (1978-1983) and The Fall and Rise of Reginald Perrin (1976-1979).

And, for Doctor Who fans, surely you spotted him in the classic run of DW in 1970 and again in 2007 when he returned for "Voyage of the Damned."

The folks at Doctor Who have paid tribute to him with this tweet.

Palmer's first on-screen role was in 1955, appearing on the TV series St. Ives. We just recently saw him in 2014's Paddington. Before his passing, he completed filming on the feature film Unquiet Life, which awaits a release date.

Do you have a favorite role of Geoffrey Palmer's?