The actor was best known as Detective Superintendent Andy Dalziel in the TV show Dalziel and Pascoe.
Clarke's agent confirmed news of the actor's passing today (November 12), after a "short illness".
"He will be greatly missed by his family and loved ones. At this time we ask that you respect their privacy in their time of grief," a statement read.
Born in Oldham in 1947, Clarke had roles in Coronation Street in the 1960s.
He was cast as droog Dim in Stanley Kubrick's 1971 adaptation of Anthony Burgess's A Clockwork Orange, which starred Malcolm McDowell in the lead role of Alex.
Clarke also appeared alongside MacDowell in O Lucky Man! in 1972 and Gulag in 1985.
He appeared in several TV and film productions in the decades that followed, before being cast in one of the title roles of Dalziel and Pascoe in 1996.
In more recent years,