Bermuda-born Cameron, who lived with his wife in Kenilworth, Warwickshire, died in his sleep on Friday.
Cameron first appeared on screen in the 1951 film Pool of London, in a rare starring role for a black actor.
His family said he "was an inspirational man who stood by his moral principles".
Cameron was appointed Commander of the Order of the British Empire (CBE) in the 2009 New Year Honours.
His other screen credits include 1965 Bond movie Thunderball and Doctor Who.
