David Graham, the actor who provided the voice for characters in TV series including Peppa Pig, Thunderbirds and Doctor Who, has died aged 99.

As the voice behind the evil Daleks in Doctor Who, Graham terrified successive generations of children between the 1960s and late 70s.

He was also well known as the voice of Aloysius Parker, the butler and chauffeur in 1960s TV series Thunderbirds and its film sequels.

But to today’s generation of children, he will be most familiar as the voice of Grandpa Pig in the TV series Peppa Pig.

The character, married to Granny Pig and the father of Mummy Pig and Aunt Dottie, was referred to as “Papa Ig” by his young grandson George.

On-screen, Graham appeared in two episodes of the first series of Doctor Who as an actor, but became much better known as the unemotional, harsh voice of the Daleks.

In an interview with the Mirror in 2015 about voicing the Daleks, Graham recalled: “I created it with Peter Hawkins, another voice actor.

“We adopted this staccato style then they fed it through a synthesiser to make it more sinister.”

As well as voicing Parker for the futuristic children’s puppet series Thunderbirds, he also played the show’s pilot Gordon Tracy, and Brains the engineer, betwen 1965 and 1966.

He reprised the role of Parker for an ITV remake of the show in 2015, called Thunderbirds Are Go! and was the only original cast member to return.

Parker, famous for saying “Yes m’lady”, worked for Lady Penelope, who was played in the more recent version by Saltburn star and ex-Bond actress Rosamund Pike.

Graham said at the time: “I am triple chuffed to be on board the new series… and reprising my role of dear old Parker with such a distinguished cast.

“My driving skills are in good nick and I am delighted to be behind the wheel again with m’lady.”

He told The Mirror that the show’s creator, Gerry Anderson, had helped with the inspiration for Parker’s voice back in the 1960s.

“Gerry took me to lunch because he wanted me to hear the voice of somebody, a wine waiter,” the actor said.

“He had been a butler to the former Prince of Wales.

“He said, ‘Would you like to see the wine list sir?’ and that was the birth of Parker.

“I just made him a bit more villainous. I’m not sure the guy ever knew – he might have demanded a royalty!”

The actor, who was born in London, told The Mirror he knew early on which career he wanted to pursue.

“At school I always wanted to say the poem or read the story. I always wanted to act,” he told the newspaper.

He had to postpone his acting interests when World War Two happened, however, and worked as a radar mechanic.

But afterwards, having not enjoyed his post-war work as an office clerk, he joined his sister and her American GI husband in New York, where he attended a theatre school.

After returning home, he worked in repertory theatre before getting work the first Doctor Who series.

Graham was also a member of Lawrence Olivier’s company at the National Theatre.

His long career also included providing the voice for Wise Old Elf and Mr Gnome for Ben & Holly’s Little Kingdom, shown in the UK on Channel 5.

He also had brief appearances in ITV’s Coronation Street, The Bill and London’s Burning and BBC dramas Doctors and Casualty.