He was known for playing the North Yorkshire-based drama's funeral director in all of the show's 18 series during its run from 1992 to 2010.
His character also ran a garage in the fictional town of Aidensfield and often got involved in disastrous money-making schemes with Claude Greengrass (Bill Maynard) and half-brother Vernon Scripps (Geoffrey Hughes).
Benson also made appearances in BBC comedy Blackadder as Henry VII, ITV 1980s soap opera Albion Market and more recently in two episodes of hospital drama Casualty.
Benson was a highly-skilled singer and dancer and an accomplished theatre actor. He and Maynard starred on stage together in a production of "Trinity Tales" in 1977.
He portrayed the title role in Shakespeare's "Henry VI" in a BBC television adaption of the play in 1983.
One of Benson's former Heartbeat co-stars Steven Blakeley, who played Pc Geoff Younger in the show,