Blake's 7 and Doctor Who star Jacqueline Pearce has died at the age of 74, shortly after being diagnosed with lung cancer, a friend has said.

The actress, best known for playing villain Supreme Commander Servalan in the popular BBC science fiction series, died at her home in Lancashire.

John Ainsworth, who had been her friend for 25 years and was with her at the time, said: "She was outrageous. She was very honest and very straightforward, which didn't always go down very well, but you knew where you were with her.

"She liked a glass of champagne and liked everyone to have a good time with her, and of course she was a brilliant actress and everyone who worked with her remembered her very fondly."

He added that Pearce had been diagnosed "a couple of weeks ago" and chose to be cared for at home after leaving hospital.

Alongside her role in Blake's 7, which was expanded from a single episode to a regular role over four series due to her popularity, Pearce was also known for her guest role as Chessene in The Two Doctors episodes of Doctor Who in 1985 - opposite Colin Baker's Time Lord.

After training at the Royal Academy Of Dramatic Arts alongside Anthony Hopkins and John Hurt, she appeared in episodes of Danger Man and The Avengers, as well as children's dramas Moondial and Dark Season, written by Russell T Davies.

In a statement, Davies said: "It was a joy, working with Jacqueline on the first drama I ever wrote, Dark Season.

"She was glorious, vivid, passionate, filthy and the most wonderful company. And underneath the style and the laughter, a truly fine actor."

Stars in Doctor Who and Game of Thrones Show all 10 1 /10 Stars in Doctor Who and Game of Thrones Stars in Doctor Who and Game of Thrones Stars in Doctor Who and Game of Thrones Maisie Williams – (left: She'll make a special appearance in Doctor Who, right: Game of Thrones – Arya) BBC/HBO Stars in Doctor Who and Game of Thrones Stars in Doctor Who and Game of Thrones Tobias Menzies (left: Doctor Who – Lieutenant Stepashin, Cold War, right: Game of Thrones – Edmure Tully) BBC/HBO Stars in Doctor Who and Game of Thrones Stars in Doctor Who and Game of Thrones David Bradley: (left: Doctor Who – William Hartnell, An Adventure through Space and Time; GoT – Walder Frey) BBC/HBO Stars in Doctor Who and Game of Thrones Stars in Doctor Who and Game of Thrones Liam Cunningham (left: Doctor Who – Captain Zhukov, right: Cold War & Got – Davos Seaworth) BBC/HBO Stars in Doctor Who and Game of Thrones Stars in Doctor Who and Game of Thrones Joe Dempsie – (left: Doctor Who - Cline, The Doctor’s Daughter; right: Game of Thrones – Gendry) BBC/HBO Stars in Doctor Who and Game of Thrones Stars in Doctor Who and Game of Thrones Thomas Brodie-Sangster (left: Doctor Who - Tim Latimer, Human Nature/The Family of Blood; right: Ggame of Thrones - Jojen Reed) BBC/HBO Stars in Doctor Who and Game of Thrones Stars in Doctor Who and Game of Thrones Iain Glen (left: Doctor Who – Octavian, Flesh and Stone/The Time of Angels; right: Game of Thrones - Ser Jorah Mormont) BBC/HBO Stars in Doctor Who and Game of Thrones Stars in Doctor Who and Game of Thrones Julian Glover (Doctor Who - Count Scarlioni/Scaroth, City of Death; Game of Thrones - Grand Maester Pycelle BBC/HBO Stars in Doctor Who and Game of Thrones Stars in Doctor Who and Game of Thrones Dame Diana Rigg (Doctor Who - Mrs. Gillyflower, The Crimson Horror; Game of Thrones - Olenna Tyrell/Queen of Thorns) BBC/HBO Stars in Doctor Who and Game of Thrones Stars in Doctor Who and Game of Thrones Harry Lloyd (Doctor Who – Baines, Human Nature/The Family of Blood; Game of Thrones Viserys Targareyenn) BBC/HBO

Her film roles included White Mischief with John Hurt, How To Get Ahead In Advertising with Richard E Grant and Princess Caraboo with Kevin Kline.