Waterman’s family announced his death in a statement.
"We are deeply saddened to announce that our beloved Dennis passed away very peacefully in hospital in Spain, on Sunday afternoon, with Pam by his side,” the statement said.
Waterman first found fame as cop George Carter in the 1975 TV movie The Sweeney, before starring as bodyguard Terry McCann in Minder.
He became well-known for singing the theme song for many of his shows, and was caricatured by David Walliams in the comedy series Little Britain as a result.
His role in drama New Tricks, which began in 2004, marked his return to a long-running show for the first time in a decade
His last film role was in Never Too Late in 2020, which was filmed in Australia.
"We are incredibly sad to hear of the passing of Dennis Waterman, an unforgettable actor who will be missed by us all," the BBC said in a statement.
HIs talents also extended to music, recording albums and singles, including songs that charted in Australia, New Zealand and Britain.