According to Variety, Brooke-Taylor's agent said that he died on early hours of Sunday due to COVID-19.
He is survived by his wife and two sons.
The 79-year-old actor was one of the very first artists from the UK to use the stop-motion techniques in the live-action format.
Besides 'Goodies,' he is also known for other television shows like 'At Last The 1948 Show' and the comedy series 'Broaden Your Mind.'
( With inputs from ANI )