Figures from politics, broadcasting and the charity sector have paid tribute to Dame Esther for her impact on public life.

The prime minister said he would "always admire the characteristic courage and openness with which she spoke about her illness, making us all think about the difficult questions we face at the end of life".

BBC director-general Matt Brittin paid tribute to Dame Esther as a "legend of British broadcasting" whose contribution to public life was "immeasurable".

"Her warmth, spirit and fight for justice and action that we saw on our screens continued long after the programme ended, with a lifetime of campaigning where she changed the lives of millions," he said.

Kim Leadbeater, the Labour MP who sponsored the assisted dying bill, told the BBC that Dame Esther was a "wonderful mix of strength and feistiness, but also really deep compassion and kindness" - and that she would continue to inspire campaigners.

Chris Sherwood, the chief executive of the NSPCC, which runs the Childline helpline, said Dame Esther had gone to "exceptional lengths to ensure children and young people across the UK had somewhere to turn when they were in need of help".

Dame Esther's That's Life! co-presenter Bill Buckley told the BBC's Radio 4 Front Row programme that "nothing would stop her" when it came to campaigning.

"She saw the light at the end of the tunnel and followed it doggedly," he said.

Watch Katie Razzall's half-hour special programme Esther! on iPlayer. It will also be shown this Friday, 2 October, on BBC One at 19:30 BST.