Murray revealed he was diagnosed with cancer in July 2021 and had an operation to remove a lung tumour in its early stages, followed by chemotherapy, in January 2022.
Subsequent scans found another tumour in his liver that was unconnected to his lung cancer and also treatable.
In a health update in May 2022, Murray said his oncologist told him his “lung cancer was cured and that the tumour in my liver was shrinking”, however by April 2023 he revealed his lung cancer had returned.
A BBC spokesperson said: “We are very sad to hear of the passing of Patrick Murray, much loved for his role as Mickey in Only Fools And Horses, our thoughts are with his friends and family.”
The BBC understands Murray, who lived in Kent, died in Rochester.