"We are very saddened to announce that Frank died on January 30, 2016 at home surrounded by his family," the statement read.
"He was a fine actor and will be very much missed by his friends and family."
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Notable roles include Casanova in the similarly titled 1971 mini-series and 1976's "Bouquet of Barbed Wire".
The actor was also once a member of Laurence Olivier's National Theatre Company, where he first faced off against the iconic star in the stage production of "Othello".
"RIP my Grandfather Frank Finlay CBE," musician Josh Coombes, his grandson wrote on Twitter.
"Funny, loving, amazing storyteller, inspiration & one of the best actors this country has ever seen.
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