News of the actor's passing on January 6 was confirmed in an announcement in The Daily Telegraph.
"Lance (John Lancelot Blades) died peacefully on 6th January 2015 after a long illness," the notice read.
"Much loved father of Jamie and brother of Elizabeth and Penelope."
His funeral will be held on Tuesday, January 20 at Putney Vale Crematorium.
Donations can be made to The Royal Marsden Hospital.
Percival became known in the 1960s for his performances on That Was the Week That Was, and went on to appear in films like Carry on Cruising in 1962 and Up Pompeii in 1981.
He voiced Paul and Ringo in The Beatles' animated TV show from 1965 to 1969 and went on to play Old Fred in 1968's Yellow Submarine.
Percival had a top 40 hit in the UK singles charts with his cover of 'Shame and Scandal in the Family'.