He died in hospital after being admitted for pneumonia, his agent said.
Lloyd worked with writer David Croft on Are You Being Served? which ran from 1972-85 followed by two spin-offs, Grace and Favour and Come Back Mrs Noah.
They also penned ‘Allo ‘Allo! which ran from 1982-92.
Earlier in his career he appeared in The Rag Trade, The Avengers and Rowan and Martin’s Laugh-In and was once married to Joanna Lumley.
Actress Vicki Michelle, who starred in ‘Allo ‘Allo! as French waitress Yvette Carte-Blanche, said via Twitter that Lloyd was “such a wonderful talent, mentor and friend. A complete joy to work with.”