The actor was best known for playing Counselor David Horton in the TV sitcom, which was well received by fans.
His son Josh Waldhorn broke the news and shared a touching tribute to his father.
He said: “My dear father, Gary Waldhorn passed away peacefully on 10 January 2022 at 6.45 am.
“Classically trained, it was theater where he really flourished and he left a legacy of entertainment that saw him frequent Broadway, the West End and on board our living rooms!
“He leaves behind his two grandchildren, Cooper and Bailey, and his son, Josh. We will all miss him dearly.”
Recently, the late star appeared in the Christmas special The Wicker of Dibly in lockdown.
She starred alongside French, who plays Geraldine Granger, and James Fleet, who plays her on-screen son, Hugo.
Following the news, the BBC also paid tribute to the late star.
A statement from the BBC comedy team said: “Gary was an incredibly talented actor, best known for his many performances as Counselor David Horton on some of the BBC’s most prized shows, and certainly in The Wicker of Dibli. is remembered by
“Our condolences are with his family and friends at this difficult time.”
His other TV shows included favorites from the 1980s and 90s such as Brush Strokes, Lovejoy, and Galloglass.
Waldhorn also enjoyed a long-running career with the Royal Shakespeare Company in theatre.
Other Wicker of Dibly stars who have died include Emma Chambers, who starred as Alice Tinker, and Trevor Peacock, who played Jim Trott.
Don French, Robert Lindsay and Samuel West paid tribute to the star on social media.
French posted a black and white photo of the actor along with a broken heart emoji.
My Family star Lindsay wrote on Twitter: “And the news of the passing of dear #garywaldhorn during this madness.
“Such great memories working with him and my wonderful friend Trevor Peacock at @rxtheatre.”
All Creatures Great and Small star West shared an image of the pair on stage in 1997 and called them “great actors”.
On Twitter, West wrote: “Sad news about Gary Waldhorn.
“He played my father, the eponymous king (here as my real father, the ultimate non-father, Falstaff) in both parts of Henry IV at the Old Vic in 1997. A lovely man and a brilliant actor.