Veteran actor Tom Bell has died in hospital aged 73 after a short illness.

Bell was perhaps best known as Helen Mirren's old adversary, Detective Sergeant Bill Otley, in Prime Suspect, and also played Jack "The Hat" McVitie in the 1990 film The Krays.

His other roles include the film Wish You Were Here and Seventies TV drama Out.

One of the last programmes he filmed was Prime Suspect 7, due to be broadcast on ITV1 next month.

His character, a sexist detective who clashed with Mirren's Jane Tennison, makes a return to the show after 13 years.

An ITV1 spokeswoman said: "We are greatly saddened by the news of Tom's death and extend our deepest sympathies to his family."

Bell, who is survived by a son and two daughters, was twice nominated for a Bafta - for the first series of Prime Suspect in 1991 and for 1978 mini-series Out, in which he played a bank robber released from prison and determined to seek revenge on the people who put him behind bars.

An acclaimed stage actor, Bell's theatre roles include the original 1979 production of Martin Sherman's Bent, in which he starred opposite Ian McKellen.