
He died in the early hours of Friday at his home in Manchester surrounded by his family, his company Cosgrove Hall Fitzpatrick Entertainment said.
Operations director Adrian Wilkins hailed "a lifetime of achievement" in the world of animation.
"He is one of life's gentlemen."
Hall, together with Brian Cosgrove, set up production company Stop Frame in the late 1960s before forming Cosgrave Hall Films.
They enjoyed international success with their productions which also included Danger Mouse spin-off Count Duckula, Jamie and the Magic Torch and Cockleshell Bay.
Danger Mouse - voiced by Only Fools and Horses actor David Jason - was joined in his quest to defeat the evil Baron Greenback by bumbling sidekick Penfold, voiced by Terry and June star Terry Scott.
In 2006, the 25th anniversary year of Danger Mouse, Hall told the BBC that the programme had succeeded because of the strange scenarios the pair found themselves in.
"The adults watched because of that kind of anarchy," he said.
"The kids watched it because they just loved the stories and the absolutely stupid gags."
He praised Jason's "fantastic" voicing of Danger Mouse as well as Scott's "wonderful" Penfold.
He said that Dangermouse, who lived inside a postbox in London's Baker Street, was "a sort of cross between Bond and all sorts of things".
"He was supposed to be suave but he was a mouse with big ears."
The show, produced by Cosgrove Hall for Thames TV, attracted an average audience of 3.5 million when it was first shown in the UK on ITV.
It has since been seen in more than 80 countries.
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