He was 81.
The cause of his death was not disclosed.
"Richard's death is a sad loss to 'Emmerdale,' of which he was at the heart for so many wonderful years," producer Kate Oates said in a statement Wednesday."He will be missed by every single member of our production whose lives he touched."
Thorp was also known for his work in the film "The Dam Busters" and television shows "The Barretts of Wimpole Street," "There's Always a Thursday," "Crossroads," "To the Manor Born" and "Emergency Ward 10."