Rigg won numerous Emmy, Tony and Bafta awards during her long and prestigious career, often switching between traditional theatre roles and ones for popular television.

She was made a Dame Commander of the British Empire in 1994 for services to drama.

"My Beloved Ma died peacefully in her sleep early this morning, at home, surrounded by family," her actress daughter Rachael Stirling said in a statement on Thursday.

She died of cancer diagnosed in March, and spent her last months joyfully reflecting on her extraordinary life, full of love, laughter and a deep pride in her profession.

"I will miss her beyond words."

Rigg was born in Doncaster in northern England and moved with her family to India before going to school in England.

She studied at the Royal Academy of Dramatic Art before making her debut at the Royal Shakespeare Company in 1959.

She spent several years in the 1960s as a member of the Royal Shakespeare Company, and combined screen work with a major stage career, in plays including Macbeth, Bertolt Brecht's Mother Courage and Tom Stoppard's Jumpers at the UK's National Theatre.

But it was her role as the karate-kicking, leather-clad secret agent Emma Peel in The Avengers that brought her to wide attention and made her a style icon of the 1960s.

She went on to star in the James Bond film On Her Majesty's Secret Service, in which her character marries the British spy.

A return to the theatre resulted in a string of hits in the 1970s and 80s.

Rigg later starred in acclaimed roles in the 1990s at London's Almeida Theatre, including Martha in Who's Afraid of Virginia Woolf?, and the title role in Greek tragedy Medea, for which she won a Tony.

In the 21st century, she was best known for playing scheming matriarch Olenna Tyrell in Game of Thrones.

"For half her life Diana was the most beautiful woman in the room, but she was what used to be called a trouper," British playwright Tom Stoppard said in a statement.

"She went to work with her sleeves rolled up and a smile for everyone. Her talent was luminous."

Rigg is survived by her daughter, son-in-law Guy Garvey — lead singer of the band Elbow — and a grandson.