According to the BBC, Skelton passed away after suffering from a stroke.
Besides voicing the Doctor's sworn enemies the Daleks, Skelton also voiced a number of other characters including the Cybermen and Krotons. In 2002, Skelton lent his voice to the audio drama 'Sarah Jane Smith: Test of Nerve.'
In addition to his 'Doctor Who' work, Skelton was known in the U.K. for providing the voices of George and Zippy on the popular children's series 'Rainbow.' The series ended in 1992, but Skelton reprised the role of Zippy in a 2008 episode of BBC One's 'Ashes to Ashes.'
Check out some of Skelton's work below.