In their statement, Juliet, Samuel and Joseph West described their father as having had a “long and extraordinary life on and off the stage”.
West leaves “a sister, a daughter, two sons, seven grandchildren and four great-grandchildren”, the family said, adding: “All of us will miss him terribly.
“We would like to thank the incredible NHS staff at St George’s Hospital, Tooting and at Avery Wandsworth for their loving care during his last days.”
The actor was born in 1934 in Bradford, the son of actor Lockwood West.
He made his name on stage and screen in the 1960s, and BBC adaptations of Richard II and Edward II in the 1970s saw him reprise roles he had already played to critical acclaim in the theatre.
This is a breaking news story, further updates to follow.