He was known for his role in the 1970s sitcoms Man About The House and George And Mildred.
News of his passing was shared by his wife Hi-de-Hi! actress Linda Regan.
Posting a picture of her kissing her husband, she said: “My love for you will never die. RIP sweetheart.”
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Born on the Isle of Wight, Murphy was a member of the Theatre Workshop, founded by Joan Littlewood, and was a jobbing actor before appearing in TV shows including Z-Cars.
In 1993, he starred in the first major stage version of the HG Wells science fiction classic The Invisible Man.
More recently, Murphy appeared in TV shows including the BBC’s Holby City and ITV’s Benidorm.