Oxenford, best known as the voice of British radio show Listen With Mother, passed away on 21 December (12), according to her daughter Kate Bradley.
She tells the BBC, ""We were so proud of her. She touched so many people through her life... The amount of children anywhere, everywhere, who grew up devoted to that 15 minutes of Listen With Mother.""
Oxenford began her career in showbusiness by entertaining troops during World War II, and she shot to fame in 1950 as the voice of Listen With Mother, which she presented for more than 20 years until 1971.
She was also famed as one of the original castmembers of popular British soap opera Coronation Street, playing Esther Hayes from 1960-1963, but making frequent returns following her departure.
The actress also made appearances in British TV shows Heartbeat, The Sweeney, To The Manor Born and popular drama series Midsomer Murders.
She filmed her last role in a 2008 episode of Doctor Who opposite David Tennant. Her scenes were cut from the initial U.K. broadcast but later added in for the DVD release.
Oxenford previously appeared in an episode of the cult sci-fi TV show in the 1980s with Sylvester McCoy playing the Time Lord.