Actor David Burke, known for playing Dr Watson in the classic Sherlock Holmes ITV series as well as appearing in Coronation Street, has died aged 91. 

Burke's passing was announced on Friday by his agent Scott Marshall Partners, who said the actor died on May 10 and was survived by fellow actors wife Anna Calder-Marshall and son Tom Burke. 

Liverpool-born Burke won a scholarship to Oxford to read classics in the 1950s, feeling out-of-place having been brought up as a working-class boy, and harnessed a wish to become the next Laurence Olivier.

Burke later trained at drama school Rada, secured after an audition inspired by working as a labourer on the M1, and went on to have a flourishing career across TV and radio, as well as on stage. 

He starred as Kent in a National Theatre production of King Lear alongside Lord of the Rings star Ian Holm, widely known for playing Bilbo Baggins. Burke's performance was met with acclaim, described at the time as being 'subtle, studied and unobtrusive'. 

The actor went on to appear on TV series Midsomer Murders and worked alongside The Good Life star Felicity Kendal in The Woodlanders.

He also appeared in Coronation Street as schoolmaster Jack Benjamin between 1963 and 1966.

Burke is best known for his portrayal of the sidekick Dr Watson in 1980s TV series The Adventures of Sherlock Holmes, in which he starred opposite Jeremy Brett, who filled both the leading detective role and that of a close friend to Burke. 

His stint as Dr Watson was hailed for transforming the character from being deemed foolish to being seen as a respected ally to Sherlock, paving the way to future depictions of the role - including Martin Freeman's performance alongside Benedict Cumberbatch in BBC's Sherlock.  

Like father like son, his son Tom entered the acting world and featured on screens as Athos in BBC's The Musketeers and as Cormoran Strike in the series Strike. 

Tom also starred alongside Steve Coogan in Netflix show Legends, which premiered earlier this month. 

Burke reportedly declined to appear in a second series of the show in 1985 having felt 'terribly guilty' about leaving his family at home while filming the 13 episodes in Manchester. 

In an interview with the Times, Tom said he felt 'guilty' as he got older at the prospect his father had 'given up this brilliant opportunity' for him. 

When he asked his father about it, Burke told his son: 'It was my decision. 

'I didn't just want to work. I also wanted to be your dad. 

'On top of that, I was getting bored of saying, "Good heavens, Holmes".' 

Burke's wife Anna, who he met while performing Ibsen's The Wild Duck at the Edinburgh Lyceum and married in 1971, appeared in TV drama series Grantchester, This England and Netflix show Bodies. 

The Jeremy Brett Sherlock Holmes Podcast paid tribute to Burke, describing themselves as 'devastated' upon hearing the news. 

They wrote:  'His performance and transformation of the character from a bumbling fool to a humble and intelligent man of action, loyal to the end and the best friend anyone could ask for, is one of the main reasons this show is the success it was, is, and will always be....

'This one hits hard on us. It was our honour and privilege to spend some time with him a few years ago, and to keep in touch with him since - memories that will live with us forever.

'We say thank you a lot here, but in this case we couldn't mean it anymore when we say: Dear David, thank you. Thank you for all you gave us.