British-German painter Frank Auerbach has died aged 93, his representatives have announced.

Considered one of the greatest painters of his age, Auerbach died peacefully at his home in London on Monday morning.

Geoffrey Parton, the director of Frankie Rossi Art Projects, said: “We have lost a dear friend and remarkable artist but take comfort knowing his voice will resonate for generations to come.”

He is survived by his son Jacob Auerbach, the organisation said.

Born in Berlin in 1931, Auerbach came to England in 1939, arriving in London as a refugee from Nazi Germany as one of six children sponsored by the writer Iris Origo.

From 1948 to 1955 he studied at St Martin’s School of Art and the Royal College of Art, London.

Frankie Rossi Art Projects said Auerbach had lived and worked in the same north London studio since 1954, and worked on his art 364 days a year.

His first retrospective exhibition was held at London’s Hayward Gallery in 1978 and Auerbach was awarded the Golden Lion prize at the 1986 Venice Biennale.

Earlier this year, another exhibition of his work, The Charcoal Heads, was staged at the capital’s Courtauld Gallery.