The Good Life star Penelope Keith has died aged 86

Penelope Keith, best known for her roles in classic sitcoms The Good Life and To The Manor Born, has died aged 86, her family has said.

In a statement, her family said the actress died peacefully at her home in Surrey, where she had lived for more than 50 years.

They said she had been living with cancer and thanked those who had cared for and supported her during her treatment, while asking that the family's privacy be respected.

Keith became a household name as the formidable Margo Leadbetter in the BBC comedy The Good Life, starring alongside Richard Briers, Felicity Kendal and Paul Eddington.

She later played Audrey fforbes-Hamilton opposite Peter Bowles in To The Manor Born, another hugely popular sitcom which ran from 1979 to 1981 and returned for a Christmas special in 2007.

Her television work also included The Norman Conquests, Executive Stress, No Job For A Lady and Next Of Kin.

Keith won a BAFTA for Best Light Entertainment Performance for The Good Life in 1977, followed by Best Actress for The Norman Conquests the following year.

She also lent her voice to adverts, including Pimm's, Lurpak, and most famously, the Parker Pen Company, which was named one of the 100 greatest adverts.

In recent years, she returned to the theatre, taking on roles such as Madame Arcati in Blithe Spirit and Lady Bracknell in The Importance Of Being Earnest.

She also turned her hand to factual programmes, including Penelope Keith’s Hidden Villages, Penelope Keith’s Coastal Villages and Penelope Keith At Her Majesty’s Service.

She married policeman Roger Timson in 1978 and the couple adopted two sons.