His agent confirmed his passing Tuesday to Deadline. She reports that he "died peacefully with his family around him."
From 2011 to 2015, Vaughan played Maester Aemon, the wizened, blind advisor to Jon Snow (Kit Harington) at Castle Black who happened to be the last Targaryen of his generation. He could have been the king of the Seven Kingdoms, but he ceded the throne to his younger brother and joined the Night's Watch. Vaughan appeared on Seasons 1 through 5 of the series.
He had a long career in film and television, appearing in movies including Straw Dogs, Brazil and The Remains of the Day. He was well known in Great Britain for his role as infamous gangster Harry "Grouty" Grout on the BBC prison sitcom Porridge.
Vaughan was born Peter Ohm on April 4, 1923. During World War II, he served in Normandy, Belgium and the Pacific. During his acting career, he played Brits, Russians and Nazis. He was married twice, first to actress Billie Whitelaw from 1952 to 1966, and then to actress Lillias Walker, to whom he was married until his death.