The Plymouth-born actor was known for his Shakespearean stage roles but also for appearing in more than 70 movies and television shows throughout his career.
Donald rose to prominence after appearing in '80s sitcom Never the Twain, as well as BBC crime drama Judge John Deed in the '00s.
He was awarded a Cbe in 1979, followed by a knighthood in 1997 for his services to drama.
The actor had been battling prostate cancer for several years and passed away at his home in Kent, his son Marc Sinden confirmed.
"Even though his death was expected, it is still a huge loss to his family and we, his brother, his son, his four grandchildren and great-grandchild will all miss his humour and knowledge," he said.
"We would all like to share our appreciation for the Pilgrims Hospice and the carers that looked after him and us with such dignity,