One image showed a young Beckinsale being held by her father while others pictured a memorial plaque celebrating his career and a news article announcing his death.
She wrote: “I don’t remember what not missing him feels like. It is part of me, like my blood.
“Always aware of how life can shatter. May all the daddies, everywhere, come home safe.
“July 6 1947-March 19 1979. How much love you brought x”
Kate Beckinsale unveils a plaque in memory of her father at his former school (Joe Giddens/PA)
Also an actor, Richard was best known for playing prison inmate Lennie Godber in the popular 1970s BBC sitcom Porridge and Alan Moore in the ITV series Rising Damp.
He had two daughters – Samantha from his first marriage, and Kate from his second to actress Judy Loe.
He also wrote poetry and a collection of his work was published posthumously.
In 2013, Kate unveiled a plaque in his honour at his former school, College House Junior School, in Nottinghamshire.
Kate Beckinsale pays tribute to TV actor father on anniversary of his death
