The British actor, died peacefully after a prolonged illness, reported The Guardian.
"He does not leave any family but a host of friends who were his chosen family. His death is a great loss to them and the profession," Kelly's agent, Lynda Ronan said.
The actor was reported to have been admitted to a hospice on Friday.
Kelly played prisoner Bunny Warren in the BBC's 'Porridge' between 1974 and 1978 and Nazi captain Hans Geering in the first four series of 'Allo 'Allo!' between 1982 and 1987. As Captain Geering he was best remembered for his cry 'tler!', an unenthusiastic salute to Hilter.
Throughout his career Kelly also received plaudits for his theatrical performances which included roles at the National Theatre and Old Vic.
