Dame Stella Rimington, MI5's first female director general, has died, her family has said.

Dame Stella, who headed the security service from 1992 to 1996, was widely credited as being the model for Dame Judi Dench's M in the James Bond films.

She joined MI5 full time in 1969, and served as deputy director general in 1991 before being promoted to director general a year later.

After retiring from the service, Dame Stella began a career as a novelist.

In a statement, her family said: "She died surrounded by her beloved family and dogs and determinedly held on to the life she loved until her last breath."