"It is with great sadness that the family of Robert Hardy CBE on Thursday announced his death, following a tremendous life: a giant career in theatre, television and film spanning more than 70 years," a statement from his children Emma, Justine and Paul said.
They added: "Gruff, elegant, twinkly, and always dignified, he is celebrated by all who knew him and loved him, and everyone who enjoyed his work."
Born in 1925, Hardy started his career at 24 in a stage adaptation of William Shakespeare's "Coriolanus", the first of many theatre roles.
The Bafta-nominated actor later appeared in the Harry Potter films as Minister of Magic Cornelius Fudge, a role he reprised four times.
He was awarded a CBE -- one of Britain's highest honours -- in 1981 for his services to acting.