Mary Tamm, who played the Doctor’s companion Romana alongside Tom Baker, died at her home in South London after losing her 18 month fight against the disease.
Tributes were paid to the “truly beautiful” actress for her “sheer talent” and ”zest for life”.
The actress, born in Bradford, West Yorkshire, to poor Estonian refugee parents, had a long and successful career on stage and screen but didn’t learn to speak English until she went to primary school.
As well as Doctor Who, she starred in films such as The Odessa File and The Likely Lads and had recurring roles in Brookside and EastEnders. She also made several appearances in Coronation Street.
Her family, including husband Marcus Ringrose, daughter Lauren and seven-year-old grandson Max, paid tribute to the actress.
Mr Ringrose, said:
Mary was truly beautiful in every way. She was a very spiritual lady who loved nature and adored all animals.
On set and offstage, her earthy northern humour and self-deprecating wit brightened every occasion. She was a consummate actress, and immensely popular in the profession.
Mary was born in Bradford, the daughter of impoverished refugees, and through sheer talent and hard graft, got herself to Rada, starred opposite Jon Voight in The Odessa File, and found a form of immortality as the Time Lady Romana opposite Tom Baker in Doctor Who.
We will miss her every day.
Tom Baker led the tributes, saying:
She was a darling companion and wonderfully witty and kind. I’m so sorry to hear of her death.
Barry Langford, her agent of 22 years, also paid tribute to one of his closest friends, adding:
She had a great zest for life. She was a fantastic actress – she played stage parts of such range, parts that would take your breath away. She could play any role, and do so wonderfully.
Actress Helen Lederer, a friend of Tamm’s, said:
Mary was such an energised, talented woman with a great twinkle in her eye and she was so very beautiful.
Colin Baker, the actor who played the sixth Doctor, wrote on Twitter:
Shell-shocked to hear Mary Tamm is gone. A funny, caring, talented, lovely and down to earth lady. My heart goes out to Marcus and Lauren.