The man behind one of the world’s most familiar voices has died aged 99. In a long career, British actor David Graham provided the voices for characters in TV series including Peppa Pig, Thunderbirds and Doctor Who. For today’s generation of children, his voice will be instantly familiar as that of Grandpa Pig, in the Peppa Pig series.

David Graham, the voice of the Daleks in Doctor Who, has died aged 99. The English actor, who also voiced butler and chauffeur Aloysius Parker in the 1960s television series Thunderbirds, provided the robotic voice of the sci-fi antagonists in the 1960s and 1970s.