The star, best known for his role in the 1963 classic The Great Escape, passed away following a battle with cancer.
As well as appearing in The Great Escape, Adams had a successful television career.
He played Guy Marshall in 1960s medical drama Emergency-Ward 10 and Dr Guy Wallman in General Hospital between 1975 and 1978.
Later, he played Sir Daniel Fogarty in period drama The Onedin Line between 1977 and 1980.
He appeared as Commander Vorshak in Doctor Who's 'Warriors of the Deep' serial, and also took over the role of Malcolm Bates in Emmerdale in 1987.
More recently, he was a voiceover artist for several adverts and was the long-running voice of E4.
His agent Emma Harvey said: "A true gentleman and a class act, his personality was as big and warm as his wonderful voice. We'll miss him very much."