The actor passed away after a battle with cancer at the Royal Sussex County Hospital on Monday, his sister Tessa has confirmed.
The creator of the hit series played handyman Simon Bodger and voiced his companion, a beret-wearing badger with a love for mashed potato.
The show ran on the BBC from 1989 to 1999, and came shortly after he worked as a puppeteer in the Star Wars film Return of the Jedi.
His relative commented: “Andy lived to be loved and to make people laugh – starting with me, his little sister.
Andy Cunningham lost his battle with cancer on Monday
Andy Cunningham was soon trending on Twitter today Stars we lost in 2017 Wed, June 7, 2017
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Bodger and Badger star Andy Cunningham has died of cancer age 67
Andy Cunningham lived to be loved and to make people laugh
"He had a quicksilver brain, a rebellious attitude, boundless compassion particularly for the underdog, unstinting levels of generosity and, of course, a passion for mashed potato.”
Tessa added: ”I adored him and, long before he found fame, was immensely proud to have the funniest, cleverest big brother in the universe.”
Andy gave comedian Julian Clary his first job when he was writing and directing shows for the Covent Garden Community Theatre Group and the pair remained friends.
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Andy Cunningham is famous for creating and starring in Bodger and Badger
Andy Cunningham dead: twitter was inundated with tributes
He was also in a long-term relationship with Jane Bassett, who played Mousey in Bodger and Badger.
While the couple separated many years ago, they remained close friends and she was with him when he died, along with his sister and nieces.
Broadcaster Tony Shepherd led the online tributes, posting: “I'm going to have mashed potato for dinner tonight. Bodger, from Bodger and Badger has died. RIP Andy Cunningham.”