The American-British actor was best known for role as Detective Kenneth 'Hutch' Hutchinson, starring alongside Paul Michael Glaser as Detective Dave Starsky in the TV series Starsky & Hutch in the 1970s.
Soul is also renowned for his roles as Joshua Bolt in the comedy series Here Comes the Brides from 1968 to 1970, as well as the 1973 movie Magnum Force, where he played Officer John Davis.
In 2004, Glaser and Soul also reprised their roles in the remake of Starsky & Hutch, a film which starred Ben Stiller as Starsky and Owen Wilson as Hutch.
David Soul's death was confirmed by his wife Helen Snell, who released the following statement.
"David Soul - beloved husband, father, grandfather and brother – died yesterday after a valiant battle for life in the loving company of family", she said. "He shared many extraordinary gifts in the world as actor, singer, storyteller, creative artist and dear friend".
"His smile, laughter and passion for life will be remembered by the many whose lives he has touched".
Along with a successful film career, David Soul also showcased his talents as a singer, bagging one US hit and five UK hits, which included songs such as 'Don't Give Up On Us', which reached top spot on both sides of the Atlantic in 1976.
His single 'Silver Lady' also reached number one in the UK charts a year later.
