Beeny’s son, Rick Blackman, announced the news on Twitter, writing: “I have some sad news to impart. On 3 January, my old dad Christopher Beeny died at his home in Kent.”
Blackman added: “Comforted to know he was not alone at the end and was in his armchair.”
Beeny played footman Edward Barnes in the ITV drama series, which ran for five series from 1971 to 1975.
His other credits include Last of the Summer Wine and In Loving Memory.
Born in London, Beeny’s arts career began as a six-year-old in 1947 when he danced for the Ballet Rambert.
I have some sad news to impart. On friday 3rd of January my old dad Christopher Beeny died at his home in Kent. He was 78. Comforted to know he was not alone at the end and was in his armchair. pic.twitter.com/e4GsvYtPVp
— Rick Blackman (@rickblackman01)
His first screen role arrived in 1953 film The Long Memory, which starred John Mills and Thora Hird, whom Beeny would go on to star alongside in Last of the Summer Wine and In Loving Memory.
He also appeared in The Grove Family, the first British soap, in the 1950s and had a cameo role in Emmerdale in 2006.
Blackman added: “I want to thank you all for the kind tributes and messages following the death of my dad. I’ve tried to answer and like as many as possible but the sheer volume has been staggering. Thank all you so much from me and the rest of the family.”