Respected film and television actor Peter Halliday has died, at the age of 87.

With a career that began when he joined RADA in 1947, and which since the mid-1950s has been littered with film and television appearances (including The Remains of the Day), genre fans will best remember Halliday in the role of Dr John Fleming in A For Andromeda (1961) and its follow-up The Andromeda Breakthrough (1962).

Halliday was also a veteran of several Doctor Who stories, memorably playing Tobias Vaughn’s second-in-command Packer in 1968’s The Invasion, followed by parts in The Silurians (1970) and Carnival of Monsters (1973). Halliday also had small parts in City of Death in 1979 and Remembrance of the Daleks in 1988, as well as voicing an alien in the final two instalments of 1970’s The Ambassadors of Death.

Peter Halliday was born in Wales in 1924, and during the height of his career married the actress Simone Lovell (although they later divorced), with whom he had three sons. He also leaves behind five grandchildren.