Sesame Street original cast member Bob McGrath dies age 90

McGrath was a founding cast member when Sesame Street premiered in 1969

Bob McGrath looks at the Cookie Monster as they accept the Lifetime Achievement Award for Sesame Street at the Daytime Emmy Awards in 2009 (AP)

Sesame Street has paid tribute to cast member Bob McGrath, who was a “beloved member” of the show for more than 50 years, following his death age 90.

The actor, musician and children’s author, who was known as one of the first non-Muppet regular characters on the US children’s show, died peacefully at his home, his family confirmed.