The Doncaster-born actress also had roles in Notting Hill and the TV adaptation of Martin Chuzzlewit.
Her exact cause of death has not yet been announced - but she is known to have suffered from asthma and had severe allergies to most animals.
Jon Plowman, the show’s executive producer and ex- BBC head of comedy said he believed she had suffered a heart attack.
He told Radio 4: “It’s no age to have a heart attack, as I understand it.
“Emma was a gifted comic actress who made any part she played look easy. She was adored by the cast and crew.”
A statement from her agency said Chambers died from natural causes and that she would be "greatly missed".
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