The Independent Talent Group said in a statement that Clarke died after a brief illness.
"He will be greatly missed by his family and loved ones," the agency said.
Clarke had a long, varied career, performing on the popular British soap "Coronation Street" in the late 1960s and as an ultraviolent "droog" in Stanley Kubrick's provocative "A Clockwork Orange."
He was prominent on television for many years as gruff Det. Supt. Andy Dalziel in the "Dalziel and Pascoe" series that ran for 12 years.
He told the Daily Mail in 2011 that he had worked "through the tough times as well as the good times" and that his wife had once sold her engagement ring so they could buy food.
Clarke had remained active. The last role he had finished was in a BBC revival of the 1970s drama "Poldark.