Even in our deep sadness, we are comforted by the memory of our wonderful father,’ his daughters Alexandra and Serena said in a statement.
‘He loved us all dearly and expressed that love every day. He was adored by so many, all of whom benefited from his warm and generous heart.’
Then added: ‘Our dad brought joy and humour wherever he went and did so with great style.’
David’s wife, Bridget, a production associate on Dynasty, died in 2016. He is survived by daughters Serena and Alexandra, an actress and director who is married to Jodie Foster.
He first played 007’s CIA ally in 1973’s Live and Let Die, the late Sir Roger Moore’s first Bond film. He returned to the role 16 years later to appear alongside Timothy Dalton in 1989’s Licence to Kill.
He was also turned into an insect in the 1958 film The Fly and starred in 1960s submarine TV series Voyage to the Bottom of the Sea.