Johnson made his film debut in the 1950s and featured in numerous films, alongside stars such as Frank Sinatra, Laurence Olivier and Charlton Heston, reported BBC.
A founder member of the Royal Shakespeare Company, Johnson played several lead roles including Romeo and Mark Anthony in Julius Caesar.
He also appeared in several TV dramas such as Lewis and Silent Witness.
Johnson died after a short illness at the Royal Marsden Hospital in Chelsea, London. He is survived by his wife Lynne, who he married in 2004, and his four children.
More From This Section
He played the lead role in a BBC production of Shakespeare's 'Cymbeline', alongside Helen Mirren.
Johnson was born in Upminster, Essex, and he left his training at the Royal Academy of Dramatic Art (RADA) to join Sir John Gielgud's company.
He joined the Royal Navy during World War Two and then made his film debut in 1959, when he appeared in the MGM film "Never So Few", starring Frank Sinatra and Gina Lollobrigida. He also appeared in "The Haunting" (1963) and "Khartoum" (1966), opposite Laurence Olivier and Charlton Heston.
Recent film credits include "The Boy in the Striped Pyjamas" (2008), "Scoop" (2006) and "Lara Croft: Tomb Raider" (2001).