Peter Sallis, the British stage and film actor known for voicing Wallace in the Wallace & Gromit animated films, has died at age 96.

On the London stage, Mr. Sallis appeared in the 1963 production of She Loves Me, and later played opposite Judi Dench in the 1968 London premiere of Kander and Ebb’s Cabaret. In 1965, director-producer Harold Prince asked Mr. Sallis to play Dr. Watson in the short-lived Sherlock Holmes musical Baker Street, which played a six-month Broadway run. In that same year, he starred in the 1965 Broadway drama Inadmissible Evidence as Hudson—a performance he reprised in the 1968 film version.

In the U.K., Mr. Sallis was known for his work on the long-running television comedy Last of the Summer Wine.