The 69-year-old actor lost his battle with pancreatic cancer "at home surrounded by his family", according to his agent.
Lloyd-Pack was best known for his long-running stint on hit British sitcom Only Fools And Horses, playing hapless road sweeper Trigger alongside Jason.
The veteran actor has now spoken out after hearing of Lloyd-Pack's death, saying, "I was very saddened to hear of Roger's passing. He was a very quiet, kind and unassuming actor who was a pleasure to work with.
"Although he played the simple soul of Trigger in Only Fools And Horses, he was a very intelligent man and a very fine actor capable of many roles. I shall remember him with fondness and for all the good times we had together."
John Challis, who also starred in the hit series, adds, "I spoke to Roger two days ago. It is very sad and very distressing.
"My thoughts are with his family. He was a remarkable man and he'll be missed. Roger is irreplaceable. It's a very sorry day."
Other stars who have offered tributes include actress Hayley Atwell, funnyman James Corden, and Stephen Fry, who reminisced about Lloyd-Pack in a post on Twitter.com, writing, "Just awoken to terribly sad news that Roger Lloyd-Pack has died. We loved playing with him at the Globe & the Apollo (London theatres). Farewell, old friend."
Lloyd-pack was born into an acting family, with his father Charles Lloyd-Pack a regular in the Hammer Horror movies.
He started his career in The Avengers in 1965 and appeared in a string of stage and Tv productions until becoming a household name in his native Britain when Only Fools And Horses debuted in 1981.
He also starred opposite funnywoman Dawn French in another popular comedy show, The Vicar Of Dibley, from 1994 to 2007, but was best known to international audiences as Barty Crouch, Sr. in the Harry Potter film series.