TV presenter Geoffrey Hayes from iconic children's programme Rainbow has died aged 76.

The actor and TV presenter's manager Phil Dale said in a statement: "It is with great sadness that the family announce that Geoffrey passed away in hospital with his wife, Sarah, and son, Tom, by his side.

"Geoffrey Hayes (born 13 March 1942) was an English television presenter and actor, best known as the host of Thames Television's top-rated children's show Rainbow, and for his portrayal of Detective Constable Scatliff in the successful TV Series Z Cars for the BBC.

"The family would like to express their thanks to the many fans over the years as it always gave Geoffrey so much pleasure to know that he and his Rainbow team had given so much fun to TV and theatre audiences over the years.

Geoffrey Hayes in pictures 12 show all Geoffrey Hayes in pictures 1/12 Zippy and Geoffrey Hayes Rex Features 2/12 Geoffrey Hayes and Bungle Rex Features 3/12 Rex Features 4/12 5/12 Zippy and Geoffrey Hayes 6/12 7/12 Former presenter of Children's TV Programme Rainbow, Geoffrey Hayes, pictured with the cast, died today aged 76 PA Archive/PA Images 8/12 Geoffrey Hayes with Bungle the Bear together in 1981 Thames Television 9/12 Geoffrey Hayes Guinness advert 1970s 10/12 Geoffrey with the cast of Rainbow Ltd/REX/Shutterstock 11/12 Geoffrey pictured at a launch for a Rainbow DVD release PA Archive/PA Images 12/12 Geoffrey Hayes with the Rainbow cast Thames Television 1/12 Zippy and Geoffrey Hayes Rex Features 2/12 Geoffrey Hayes and Bungle Rex Features 3/12 Rex Features 4/12 5/12 Zippy and Geoffrey Hayes 6/12 7/12 Former presenter of Children's TV Programme Rainbow, Geoffrey Hayes, pictured with the cast, died today aged 76 PA Archive/PA Images 8/12 Geoffrey Hayes with Bungle the Bear together in 1981 Thames Television 9/12 Geoffrey Hayes Guinness advert 1970s 10/12 Geoffrey with the cast of Rainbow Ltd/REX/Shutterstock 11/12 Geoffrey pictured at a launch for a Rainbow DVD release PA Archive/PA Images 12/12 Geoffrey Hayes with the Rainbow cast Thames Television

"There will be no further comment at the moment and it would be appreciated if the privacy of Geoffrey's family is respected at this most difficult time."

Rainbow was a popular children's TV show which ran on weekdays on ITV from 1972 to 1997.

It was created as a UK version of Sesame Street, helping pre-school children with their language and maths.

It ran for over 1,000 episodes before being cancelled with the formation of Carlton television.

The show's characters Zippy, George and Bungle gained the programme its cult status.

Mr Hayes appeared alongside the puppets in more than 1,000 episodes of Rainbow from 1974 until 1992, having taken over from original host David Cook.

Hayes played the long-suffering adult character, guardian and upholder of the peace in the hallucinogenic Rainbow house on the show.

In 2002, Hayes, who struggled to find work after Rainbow was cancelled, said the secret to the programme's enduring popularity was that it was full of "magic, innocence and imagination".

He said: "Practically all the time people come up to me and it really breaks me up because they thank me for being part of their childhood. It makes me want to cry sometimes."

Hayes also had a recurring role in drama series Z Cars in the early 1970s, and appeared on programmes including Never Mind The Buzzcocks and Pointless Celebrities.

Former Newsround presenter Lizo Mzimba wrote online: "So sad to hear that Geoffrey Hayes from Rainbow has passed away at the age of 76."

Lorna Cooper wrote on Twitter: "Paint the whole world with a rainbow, Geoffrey! Thanks for my TV childhood. RIP."

Scott Pack wrote: "Sad how, so often, the price paid for being part of the childhood of millions of people is that you struggle to get work later on."

Darren Smallwood posted: "He's now up above the streets and houses like a rainbow flying high. RIP Geoffrey. Legend."