Mahoney was also a lifelong anti-racism campaigner and proved a trailblazer as one of the first Black actors in the Royal Shakespeare Company.
Confirming the sad news of his passing, the actor's agents said: "It is with great sadness that we announce the passing of our wonderful client, Louis Mahoney.
"Louis paved the way for many actors who followed: a lifelong activist and champion of antiracism. His warmth and good humour will be sorely missed. A celebration of his life will follow."
Mahoney was born in The Gambia and originally moved to the UK in the late '50s to study medicine, before deciding to pursue a career in acting.
He appeared in the original Doctor Who series as well as the modern revival, playing the role of the elderly Billy in the acclaimed 2007 episode 'Blink'.
He also starred in Fawlty Towers in 1975, while big screen credits included Cry Freedom and Captain Phillips.
Mahoney was also notable for his work as an activist, helping to found Performers Against Racism to campaign against apartheid in South Africa. He worked with the Equity union to improve the representation of non-white actors on UK TV.
He was also chairman of Equity's Afro-Asian Committee and tried to persuade broadcasters and drama schools to reform their attitudes on creating hurdles for non-white actors to jump through.
Since the sad news was announced, tributes have flooded in:
Louis Mahoney was one of those actors who could carry a whole world through his eyes. Perhaps because he led such an extraordinary life. Worked with him on @kibwetavares's film Jonah (where he played Daniel Kaluuya's older self) and he was so magnificent. https://t.co/HyNLU47Ih4 https://t.co/oZKdHZOQ3Y— Jack Thorne (@jackthorne) June 30, 2020
So sad to hear of the death of a good friend the wonderful actor #LouisMahoney an exceptional actor and active member of Equity and a well known resident of Hampstead. He will be missed..my condolences to his family. pic.twitter.com/AyAaGWINby— Peter Egan (@PeterEgan6) June 29, 2020
We are saddened to learn of the death of former Vice President Louis Mahoney. Louis was a passionate activist on behalf of @EquityUK and led the union’s fight against racism and apartheid for many years. https://t.co/17HkNHfWm7— Equity (@EquityUK) June 30, 2020
We’re so sad to hear of the passing of Louis Mahoney. A brilliant actor and the most wonderful human being; a devoted activist and extraordinary performer, he will be sorely missed. Here we remember him in our 2011 production of debbie tucker green’s truth and reconciliation. pic.twitter.com/wpdlLiehnw— Royal Court (@royalcourt) June 30, 2020
Saddened to hear that Louis Mahoney has died who played Newscaster in Frontier in Space, Ponti in Planet of Evil, and Old Billy Shipton in Blink. R.I.P. pic.twitter.com/o1EKtduWHY— DW On This Day (@DWOnThisDay) June 29, 2020
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