Clarke died after a short illness, his agent has confirmed.
Clarke played grumpy police detective ‘Dalziel’ for 46 episodes from 1996 to 2007.
In the 1960s, he played a number of smaller roles, including two characters in Coronation Street, before a featured role in Stanley Kubrick’s A Clockwork Orange as one of Malcolm McDowell’s thugs.
Other credits included The Jewel in the Crown, Inspector George Gently, Jennie, Tinker Tailor Soldier Spy, Blackadder the Third, Lovejoy, Bleak House and Red Riding.
He recently appeared in Call the Midwife, Down to Earth, and his final role in a remake of Poldark, to be released next year.