Simon took over the role of the handbag-carrying character from comedian Dave Thompson.
The actor told BBC in 2008 he had no idea the children's show about four antenna-topped characters would be a success when he was cast as Tinky Winky.
The father of three lived in Ampthill, Bedfordshire and was an accomplished dancer and choreographer, as well as becoming well known for his role in the children's show as the purple Teletubby Tinky Winky.
He once said: "I started my career as a ballet dancer and had just started working as a choreographer".
The original Teletubbies series ran on the BBC from 1997 to 2001 and spawned a number one single, "Teletubbies say 'Eh-oh!' ", in December 1997.
Barnes' niece, "Inbetweeners" star Emily Atack, shared a tribute to her uncle on Instagram on January 19.
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Ms Atack's Instagram post said: "My wonderful uncle Simon Barnes has been taken from us all so suddenly".
"It was actually pretty lovely, because we filmed outside in the middle of attractive countryside for pretty much all summer".
'RIP Simon Shelton aka Tinky Winky: remembering the many good times. She wrote: "I love you so much Dad... always have, always will. Loved by all who knew him, and will be forever", she wrote.
He then compared starring in the kid's programme to being a rockstar: "We used to receive a lot of fan mail from kids and parents". The kindest and most talented man you could ever wish to meet.
His family has asked mourners to wear "bright colors" in his honor at his funeral, which is scheduled for February 7.
The Teletubbies were a huge hit after airing on March 31, 1997 on BBC2.
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