Barry Howard played Oliver Barnes, a member of the Sliver Cloak gang, in the 2010 story The End of Time.
The actor was best known for playing the professional dancer Barry Stuart-Hargreaves in the BBC Comedy Hi-Di-Hi, a role he played in seven series from 1980-1986.
Other roles included parts in Terry and June, You Rang, M'Lord?, Dad and he played Danny Jackson in the ITV comedy The House of Windsor.
Howard, who lived in Poole in the south of England, was also a veteran of pantomime shows, and regularly appeared alongside Are You Being Served? star John Inman as the ugly sisters.