The “trailblazing” actor Cleo Sylvestre has died at the age of 79, her agent has confirmed.

Sylvestre, also known as Cleopatra Palmer, had been a feature of film, stage, television and music since the 1960s, and played Melanie Harper, Meg Richardson’s adopted daughter, in ITV’s Crossroads – making her the first black actor to have a regular leading role in a UK soap opera. She was also the first black actor to land a leading role at the National Theatre.

Sir Mick Jagger was among those paying tribute to the late actor. In an Instagram Story, the Rolling Stones frontman wrote he was “sad” to hear about the death of his “old friend”, who, he said, was “the first female vocalist to sing with the Stones”.

Sylvestre sang as Cleo, with the Rolling Stones backing her, on a cover of To Know Him Is To Love Him in 1964. Her mother often cooked for the band. “I mean, the Stones were always round, especially Brian (Jones) and Mick (Jagger),” she said in an interview with PBS.

“We lived in a council flat with a tiny little kitchen, and she’d do meals for 15 people.”

Sylvestre continued to be a musician in recent years with her blues band Honey B Mama and Friends.

Her film roles have ranged from the 2014 film Paddington and 1993’s The Punk, while her TV appearances include The Bill, New Tricks, Till Death Do Us Part, Grange Hill, Doctor Who and Coronation Street.

A statement from Fulcrum Talent on Friday said: “It is with deep regret that I have to announce the sad news that Cleo Sylvestre MBE died this morning.

“Much loved and admired by her peers, she will be remembered as a trailblazer and a true friend. She will be sorely missed by so many.

“We ask that you respect the privacy of her family at this difficult time.”

In 2023, she went to Buckingham Palace to receive an MBE for services to drama and charity.

Her most recent screen roles included ITV thriller Platform 7, and Channel 5’s revamp of All Creatures Great and Small.

Sylvestre made her debut at the Royal Shakespeare Company in As You Like It last year after a long theatre career, which included Wise Child at Wyndham’s theatre and Under Milk Wood at the National Theatre.

The RSC said in a post to X: “We’re saddened to hear of the death of Cleo Sylvestre, who performed as Audrey in our As You Like It production last year.”

“Our thoughts are with Cleo’s family and friends at this time.”

Theatre At The Tabard, in Chiswick, west London, said it was “saddened to hear of the passing” of Sylvestre, who “graced our stage last year” for “a wonderful sold-out blues night.”

The US-born playwright and author Bonnie Greer wrote on X that Sylvestre was “one of the reasons that from my vantage point in NYC (New York City) that I thought that this country has the best anglophone theatre, and the best place to be a Black woman in it”.

She added: “I still think that. Thank you, Cleo!”

Dame Elizabeth Anionwu, the UK’s first sickle cell nurse specialist, said she was “devastated”.

Sharing photo on social media of Sylvestre dressed as Jamaica-born nurse Seacole at the unveiling of her memorial statue, Anionwu wrote: “My wonderful, kind friend. Amongst many activities, she was a great supporter of the Mary Seacole Statue Appeal.”