He starred in Heartbeat, filmed in the village of Goathland, for its entire 18 years and was Mr Derek on the Basil Brush show.
His family has confirmed today he died this morning at Royal United Hospitals Bath after suffering from pneumonia.
Derek told The Whitby Gazette in 2017 he had always regarded Goathland as his second home' after spending so much time in the village filming Heartbeat.
The actor was born in South London and trained at Rada before starring in the West End, several films and the TV roles he was best known for.
Basil Brush said on Twitter: "I don’t know what to say, I’m so desperately sad. such times we had, rest in peace Mr Derek, my best friend forever."
Derek Fowlds was the last of the remaining original Yes Minister stars, following the deaths of Sir Nigel Hawthorne and Paul Eddington.
Fowlds was first married to Wendy Tory and later to Blue Peter presenter Lesley Judd.
He is survived by two sons Jamie and actor Jeremy.