One of her most memorable characters was Blunder Woman, the comic sidekick of the hapless superhero, Cooperman.
Emberg also appeared on The Benny Hill Show, Z Cars, and Doctor Who.
Her agent said she would be “greatly missed”, while friend and pianist Bobby Crush described her as a “truly gentle soul”.
The “funniest fairy”, comedy actor Paul Chuckle said.
Emberg had just finished filming a new Sky One comedy, In the Long Run, created by Idris Elba and due to be released later this year.