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1 October 2018, 12:47 | Updated: 1 October 2018, 12:53
The popular entertainer hosted the children's show Rainbow from 1973 to 1992.
Geoffrey Hayes died in hospital aged 76, with his wife and son by his side.
Hayes' manager Phil Dale said: "It is with great sadness that the family announce that Geoffrey passed away in hospital with his wife, Sarah, and son, Tom, by his side.
"The family would like to express their thanks to the many fans over the years as it always gave Geoffrey so much pleasure to know that he and his Rainbow team had given so much fun to TV and theatre audiences over the years.
"There will be no further comment at the moment and it would be appreciated if the privacy of Geoffrey's family is respected at this most difficult time."
The actor also played Detective Constable Scatliff in the popular 1960s TV Series Z Cars.
After Rainbow ended, continued to work in panto and other projects, and also worked as a taxi driver.
However, he'll always be best known as the human presence in the hugely popular children's series Rainbow, alongside Zippy, Bungle and George.