His narration of the series - the inspiration for TV fantasy series Game Of Thrones - saw Dotrice awarded a place in the Guinness World Records in 2004 for the greatest number of characters voiced in an audio book at 224.
Reportedly, Dotrice was originally cast as Maester Pycelle but had to back out due to health issues.
A chameleon-like character actor, Dotrice launched his 55-year career with roles in such TV dramas as Escape and Treasure Island in the late 1950s and in 1965 co-starred as King Edward IV in the BBC's Royal Shakespeare Company miniseries The War of the Roses. The role was instead given to Julian Glover.
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The network apparently increased its offer to $1.8 million, but she was adamant that she should earn equally as her colleague. Want more celebrity, entertainment and lifestyle news? Karl added that the rest he would leave for when he saw her in person.
Roy, who also received an OBE in 2008, was a keen fan of GOT, also narrating George RR Martin's A Song Of Ice And Fire audiobook collection. Nearly a decade later Dotrice made a triumphant Broadway return in a revival of A Moon for the Misbegotten (2000), appearing alongside Gabriel Byrne and Cherry Jones.
Dotrice reportedly performed for other prisoners in shows meant to raise their spirits, which inspired him to become an actor after World War II was over.
His acting career spanned almost 60 years.
His family said he died at his London home, surrounded by relatives.