The actor, who was born in Twickenham, made his name as Norman 'Cleggy' Clegg in the Yorkshire comedy, which was filmed and set in the town of Holmfirth.
He appeared in all 295 episodes of the sitcom, from 1973 until 2010, and was the last surviving member of the trio of main characters.
Sallis also voiced the character Wallace in Nick Park's Wallace and Gromit films.
He served with the RAF during the Second World War and retired from acting in 2010. His wife Elaine died last year, and he is survived by his son Crispian, an art director.