Whitehead was born on Oct. 17, 1937, in East Malling and Larkfield, Kent, England. He was the son of Charles Parkin Whitehead, a lawyer, and Louise (Hunt) Whitehead. He developed an interest in acting at an early age and attended the Webber Douglas Academy of Dramatic Art in London when he was 17.

He began his professional career in 1956 with a small touring company that performed a new play every week. He later joined the Royal Shakespeare Company and made his Broadway debut in 1962 in The Affair, a drama about adultery and politics.

He became known for his ability to play a variety of roles, from classical to contemporary, comedy to drama. He was especially adept at portraying uptight snobs, pompous aristocrats and clueless bureaucrats with a dry wit and a refined accent.

He earned a Tony Award nomination in 1981 for his performance as King Pellinore in the revival of Camelot, the musical based on the legend of King Arthur. He also starred in several other Broadway productions, such as The Crucifer of Blood (1978-79), a Sherlock Holmes mystery that featured Glenn Close; Noises Off (1983-85), a farce about a chaotic theater troupe; and My Fair Lady (1993-94), in which he played Henry Higgins opposite Richard Chamberlain’s Eliza Doolittle.

He also had a successful career on the big screen and on television. He made his film debut in 1986 as Dr. Phillip Barbay, the snobbish dean of a college who clashes with Rodney Dangerfield’s unorthodox student in Back to School. He also appeared in movies such as Jumpin’ Jack Flash (1986), Baby Boom (1987), Kate & Leopold (2001) and The Importance of Being Earnest (2002).

On television, he was best known for his guest roles on several popular sitcoms of the 1990s. He played Mr. Waltham, the boss of Jennifer Aniston’s character Rachel Green at Bloomingdale’s and the uncle of Ross Geller’s ill-fated bride Emily on Friends; Hal Conway, the uptight neighbor of Paul and Jamie Buchman on Mad About You; Dr. Campbell, the arrogant psychiatrist who dates Daphne Moon on Frasier; and Mr. Wickham, the pompous British ambassador who hires Caroline Duffy as his cartoonist on Caroline in the City.

He also appeared on shows such as The West Wing, Desperate Housewives, The Drew Carey Show, Ellen, 3rd Rock from the Sun, The A-Team and Murder, She Wrote.

Whitehead was also a theater director and playwright. He adapted several plays by the French farceur Georges Feydeau for the American stage, such as There’s One in Every Marriage (1971) and Chemin de Fer (1974). He also served as the artistic director of the Shaw Festival in Canada from 1972 to 1977, where he oversaw the construction of a new theater and staged several works by George Bernard Shaw.

Whitehead was married twice. His first wife was Patricia Gage, a Scottish actress whom he married in 1971 and divorced in 1986. They had two children: Charles and Alexandra. His second wife was Katherine Jane Robertson, whom he married in 1987 and who died in 2009.

Whitehead is survived by his son Charles; his daughter Alexandra; his sister Ann; and two grandchildren.

Whitehead was remembered by his colleagues and fans as a talented and respected actor who brought humor and elegance to his roles.

“He was a cherished client, a luminary in the acting world who is renowned for his extraordinary talent and dedication to his craft,” Robert Attermann, his representative at A3 Artists Agency, said in a statement. “He was admired for his versatility and many roles he performed on stage, TV and film. His contributions to the world of entertainment will be cherished and remembered for years to come.”