John Challis, best known for playing Boycie in BBC sitcom Only Fools and Horses, has died at the age of 79.

His family said he died “peacefully in his sleep, after a long battle with cancer”.

Co-star Sir David Jason paid tribute to Challis as a “a wonderful actor” and “a gentleman in the true sense of the word”.

His character – unscrupulous second-hand car dealer Terrance Aubrey Boyce – was a firm favourite with comedy fans.

Challis starred in the show, alongside Sir David and Nicholas Lyndhurst, throughout its time on air from 1981 right through to the final show in 2003.

The character – who was both a long-time former schoolmate and devious rival of Sir David’s character Del Boy – was initially due to appear in just one scene, but the part grew in prominence as the series progressed.

In fact he was so popular with viewers that, when Only Fools and Horses ended its long run, the BBC developed a spin-off show following the continuing adventures of Boycie and long-suffering wife Marlene. It ran for four series.

Sue Holderness, who played Marlene, paid tribute to Challis as her “beloved friend”.

“Marlene without Boycie – it’s unthinkable,” she said. “John Challis was my partner on screen and stage for 36 years and my beloved friend. RIP darling John. I will miss you every day.”

In a statement, his family said: “He will always be loved for being ‘Boycie’ and leaves a great legacy of work that will continue to bring pleasure and smiles for many years to come.

“Be assured that in the future there will be an occasion to celebrate John’s life – when everyone will be welcome to come along.”

The BBC’s chief content officer Charlotte Moore said Challis was “a wonderful actor who will forever be remembered for playing Boycie in Only Fools and Horses – a character so well loved by millions”.

Challis happily played Boycie on screen for decades – and even adopted the persona in appearances in other entertainment shows, fan conventions and even in a video message this year advocating the wearing of face-coverings in public places to help fight Covid.

But he also showed his range as a Shakespearean actor when he performed in open-air performances of Richard III and a Midsummer’s Night Dream that were staged in Regents Park in London in 1995, right at the height of the popularity of Only Fools and Horses.

More recently he played Monty Staines in ITV show Benidorm.

Actress Crissy Rock, who appeared alongside Challis in the show, said she was heartbroken.

She tweeted: “John you were a true gentleman and always so loving and supportive towards me. I am thinking of your family and close friends at this hard time. Rest well. Crissy xx”

Earlier this month, Challis cancelled a speaking tour due to ill health.

He was due to appear in 30 scheduled dates, billed as an “intimate evening with John Challis”, but had to cancel the tour after one date.

Others paying tribute ranged from The Three Degrees singer Sheila Ferguson to US rapper and actor Ice T, who wrote: “He somehow became a Twitter friend… I’m very sad. Although I never met him in person, internet friends can become close.”

Challis recently became an honorary citizen of Serbia, where Only Fools and Horses remains hugely popular.

He travelled to the Balkan country as part of a documentary, Boycie In Belgrade, which explored why the show was so well-loved there.

Although he was famed for his nasal south London twang as Boycie, he was actually born in Bristol and only moved to London as a young child. In a quirk of fate, much of his career as an on-screen Londoner was spent in Bristol where Only Fools and Horses was largely filmed.