The Avengers TV series star Patrick Macnee has died in California at the age of 93.

The British actor, best known for playing John Steed in the 1960s television spy series, died at home with his family at his bedside, his son Rupert has announced.

Patrick Macnee also played roles in theatre, appearing on Broadway, and served in the Royal Navy during World War Two.

A statement on Patrick Macnee’s website read: “Wherever he went, he left behind a trove of memories.”

The actor died peacefully at his home in California’s Rancho Mirage on June 25, Rupert Macnee said.

Born in London, Patrick Macnee grew up in Berkshire and was educated at Summerfields Preparatory School and Eton.

He played a number of minor roles – including one in Laurence Olivier’s 1948 film version of Hamlet – before rising to fame in the original Avengers series between 1961 and 1969.

Patrick Macnee returned when that series was reprised as The New Avengers in the 1970s, appearing alongside Joanna Lumley’s Purdey and Gareth Hunt’s Mike Gambit.

He also appeared in the 1985 James Bond movie A View to a Kill, playing an ally of Roger Moore’s Bond character, and was a guest star in dozens of British, American and Australian TV productions.

Patrick Macnee had two children, son Rupert and daughter Kate Woodville, and one grandson.

He was married three times, including to actress Katherine Woodville, with whom he acted in The Avengers.

Patrick Macnee had been a US citizen since 1959, according to the AP news agency.