Image caption David Tennant starred in Kafka: The Musical on BBC Radio 3 last April

Former Doctor Who star David Tennant has been named best actor at the inaugural BBC Audio Drama Awards.

The awards, which were also hosted by Tennant, aim "to celebrate and recognise the cultural importance of audio drama, on air and online".

Tennant won for his role as Kafka in Kafka: The Musical. Rosie Cavaliero was named best actress as Ruthie, in Lost Property: A Telegram from the Queen.

Lost Property: The Year My Mother Went Missing won best audio drama.

It is the second in a trilogy of radio plays from acclaimed writer Katie Hims.

The trilogy began with The Wrong Label, spanned 60 years, and charted "one family's tragi-comic history of heartbreak and redemption".

The series was directed by Jessica Dromgoole. Cavaliero narrated the first two plays, before taking on the role of Ruthie in the final part, A Telegram from the Queen.

All three were originally broadcast on BBC Radio 4 in May 2011 and will be repeated next week.

Andrew Scott won the best supporting actor/actress award, in Nick Perry's play Referee.

Image caption Rosie Cavaliero and co-star Gary Beadle recording A Telegram from the Queen

Tim Davie, director, BBC Audio & Music, said he hoped the awards would bring "wider recognition of the many talented people who work in the genre".

Actor Richard Wilson presented writer Hugh Hughes with the award for best scripted comedy drama, and Stephen Wyatt's Gerontius won the Tinniswood Award for the best drama script broadcast in 2010.

The Imison Award, for best radio drama script from a newcomer (broadcast in 2010), went to Michelle Lipton for Amazing Grace.

Other awards included best adaptation, for The History of Titus Groan, and best online drama, for Rock.

Best use of sound went to Julian Simpson's Bad Memories, while The Unfortunates won the innovation award.

Stars attending the event, at BBC Broadcasting House in London, included Johnny Vegas and actresses June Whitfield and Niahm Cusack.