Waterman, who started acting as a child, became a household name playing Detective Sergeant George Carter in police series "The Sweeney" in the 1970s, followed by the role of Terry McCann in the hit comedy-drama "Minder" for a decade from 1979.
"We are deeply saddened to announce that our beloved Dennis passed away very peacefully in hospital in Spain," his family said in the statement.
Waterman was 74.