Actor Stephen Moore has died. He was 81.

In a career that skilfully mixed straight drama with comedy roles Moore was known to many as the voice of Marvin the Paranoid Android in The Hitchhiker's Guide to the Galaxy and as the father of Kevin the Teenager in the Harry Enfield sketches (pictured).

He also starred as the father of Melody and Harmony Parker in the children's series The Queen's Nose. Other appearances included roles in The Boat That Rocked, Dr Who and Adrian Mole.

He was also the reader for the original audiobook versions of the Hitchhiker's Guide To the Galaxy series, books 1-5.

Hitchhiker's producer Dirk Maggs paid tribute on Twitter: "Our dear friend Stephen Moore has died. A fine actor, a lovely man and the original and most iconic voice of Marvin The Paranoid Android in The Hitchhikers Guide To The Galaxy. Our thoughts are with his family and our memories of him will always make us smile. RIP Stephen."

Update: Look out for a tribute to Stephen Moore on QI this Friday (October 18). Dirk Maggs tweeted on Thursday evening: "Back in February our "Radio Marvin" with his Plastic Pal Tom was asked to take part in a QI recording. With perfect timing it will be shown this Friday night and thereafter on BBC iPlayer. John Lloyd tells me the QI elves have sweetly added a little tribute to Stephen Moore."