Whitehead was Tony-nominated for Camelot and made memorable appearances on many sitcoms, including Friends and Mad About You.

Paxton Whitehead, Tony-nominated for his performance as Pellinore in a 1980 Broadway revival ofCamelot,has died.

Whitehead’s agent, Robert Attermann, confirmed to EW that the actor died on June 16.

Actor Paxton Whitehead of the New York Stage And Film production “Abigail/1702” attends the New York Stage And Film’s 2012 Season Launch at Joe Allen Restaurant on June 12, 2012 in New York City.

Paxton Whitehead.Jemal Countess/Getty

He was admired for his versatility and many roles he performed on stage, TV and film.

His contributions to the world of entertainment will be cherished and remembered for years to come."

Francis Edward Paxton Whitehead was born on Oct. 17, 1937, in Kent, England.

He was interested in acting from a young age and attended drama school at the age of 17.

Prior to signing with the Royal Shakespeare Company in 1958, Whitehead performed with small touring companies across England.

Eventually, he made his way to the U.S. and Canada, where he began his screen career.

He starred in the syndicated seriesMarblehead Manoras butler Albert Dudley from 1987 to 1988.

His last major role was in the 2011 Broadway revival ofThe Importance of Being Earnestas Rev.

He is survived by his son and daughter.