The actor’s family confirmed that he had passed away in hospital in Leicestershire shortly after breaking his hip in a fall off his mobility scooter.
His daughter-in-law Jacqueline Reddin, who is also an actress, said: “He was larger than life and he just loved showbiz.
“He was so proud of the fact that he had been working for 81 years.
“He leaves a son and daughter, five grandchildren and three great-grandchildren.”
Bill, real name Walter Williams, first appeared as fan favourite Greengrass in Heartbeat in the early 1990s.
He left the ITV soap back in 2000 after suffering a series of strokes but went on to return in the spin-off series The Royal in 2003.
His career in showbiz spanned six decades, having began working at the tender age of eight, doing impressions in Working Men’s Clubs.
The comic later paired up with stand-up favourite Terry Scott, with whom he found success, hitting screens with their own show, Great Scott, It’s Maynard, in 1955.
Bill’s illustrious acting repertoire included parts in the Carry On films in the 1970s and Oh No, It’s Welwyn Froggitt.
Last year, he appeared in drama The Moorisde, which was based around the fake kidnapping Shannon Matthews.
Bill was also a talented singer, covering Once, Twice, Three Times A Lady, Somewhere Over The Rainbow and releasing his last album in 2013 at the age of 85.
The Surrey-born star even competed to represent the UK in the 1957 Eurovision Song Contest.
He once stood against Tony Benn in the Chesterfield by election as an Independent Labour candidate, hoping simply to stop him from being re-elected.
However, the longstanding MP won the seat, with Bill taking fourth place.
On top of his already jam-packed showbiz portfolio, Bill also worked as a DJ for BBC Radio Leicester and was also an author.
Fans flooded to Twitter to pay tribute to Bill following the news of his passing, with one saying: “R.I.P. Bill Maynard. Green grass was a total legend.”
Chas Hodges from Chas and Dave said: “Sad about Bill Maynard. Who remembers when he had his own TV show back in the late 50s or early 60s and the ‘Bill Maynard Jumper’ got to be ‘all the rage’?
“My older brother Dave went out and bought one.”
His Heartbeat co-star Tricia Penrose also posted: “R.I.P. my lovely friend Bill Maynard it was only a few weeks ago I worked with you. You will be sadly missed.”
Another fan reminisced: “R.I.P. Bill Maynard. Was a mega TV star when I was a kid. My dad and I loved Selwyn Froggitt.”