He had been diagnosed with leukaemia and passed away peacefully on Wednesday.
The actor, who was known for his striking stage presence and distinctive booming delivery, won a best actor Academy Award in 1967 for his role as Sir Thomas More in A Man For All Seasons (pic) and was nominated for best supporting actor for his performance in 1992's Quiz Show. But he was also well respected for his performances in Shakespeare plays on stage.
Born in 1922 in Sussex, he began his stage career in 1940 where he was soon being compared to legendary actor Laurence Olivier. He acted in a number of celebrated theatre performances including King Lear in 1962 - which was voted the greatest Shakespearean performance of all time in 2004 by a poll of Royal Shakespeare Company actors including Sir Ian McKellen.
He was honoured with a CBE in 1956, but has rejected the offer of a Knighthood three times.
He is survived by his actress wife Joy Parker and their two children Martin and Sarah.