The legendary actor, whose career spanned 60 years, died on Sunday afternoon with his wife Pam by his side.
A statement said: ‘We are deeply saddened to announce that our beloved Dennis passed away very peacefully in hospital in Spain, on Sunday afternoon, with Pam by his side.
‘The family kindly ask that our privacy is respected at this very difficult time.’
Waterman, who had varied roles in comedy, drama, and horror, found fame as a teenager in BBC drama William and became well known for his role as tough-nut cop, Detective Sergeant George Carter, opposite John Thaw in ITV’s police drama The Sweeney.
He went on to star as bodyguard Terry McCann in Minder, and landed a long-running role as Gerry Standing in New Tricks from 2003 to 2015.
Waterman also starred in ITV’s Where The Heart Is, The Canterbury Tales and Moses Jones.
The star was also known for singing the iconic theme tune for New Tricks and Minder.
He was also an accomplished actor in the film world, starring in 29 films, most recently in 2020.