David Graham, who was the voice of characters in Thunderbirds and Peppa Pig, has died aged 99, it has been confirmed.

The London-born star also voiced the evil Daleks in Doctor Who, and brought to life the Thunderbirds puppet characters aquanaut Gordon Tracy, scientist Brains, and Lady Penelope’s driver, Aloysius “Nosey” Parker, in the series in which a secret organisation tried to save the world.

The son of Thunderbirds creator Gerry Anderson, TV producer Jamie Anderson, said in a statement to the PA news agency he was “very sad to confirm that David has passed away at the grand old age of 99”.

He added: “Just a few weeks ago, I was with 2,000 Anderson fans at a Gerry Anderson concert in Birmingham where we sang him happy birthday – such a joyous occasion.

“And now, just a few weeks later, he’s left us. David was always kind and generous with his time and his talent. And what a talent.

“From the Daleks to Grandpa Pig and numerous voices for Anderson shows including Brains, Gordon Tracy and the iconic Parker. He will be sorely missed.”

Graham returned as Parker for ITV’s remake Thunderbirds Are Go, which ran between 2015 and 2020, but not for the live-action 2004 film in which Ron Cook took on the role.

The original 1965 Thunderbirds was created by Gerry Anderson, who died in 2012, and his second wife, Sylvia, the voice of Lady Penelope, who died in 2016.

The official account of Anderson said on X: “David was always a wonderful friend to us here at Anderson Entertainment. We will miss you dearly, David. Our thoughts are with David’s friends and family.”

Graham played Grandpa Pig in children’s show Peppa Pig, and also provided the voice for characters in Ben & Holly’s Little Kingdom.

His in-person acting roles included Doctor Who, Coronation Street and Casualty.