The London-born star was 99.

Jamie Anderson, the son of Thunderbirds creator Gerry Anderson, led the tributes on X as he called Graham a "legendary" actor.

Graham brought to life the Thunderbirds puppet characters Gordon Tracy, scientist Brains, and Lady Penelope's driver, Aloysius "Nosey" Parker, in the series about the secret International Rescue organisation.

"We will miss you dearly, David. Our thoughts are with David's friends and family," Anderson's post on X confirming the death on Friday said.

Anderson went on to pay tribute to Graham, who also voiced the evil Daleks in Doctor Who, saying: "David was always a wonderful friend to us here at Anderson Entertainment."

'What a talent'

Anderson also told the PA news agency: "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."

Read more from Sky News:
Farage: It's possible I could become PM
Body found in search for missing TV chaplain

Highlighting all the characters played by Graham, Anderson added: "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 which saw Ron Cook take 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.

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

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