Poldark has taken home the Radio Times Audience Award at this year's British Academy Television Awards.

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The BBC1 period drama, starring Aidan Turner and Eleanor Tomlinson, saw off stiff competition from Humans, Doctor Foster, Peter Kay's Car Share, The Great British Bake Off and Making a Murderer to claim the prize – the only one decided by viewers.

Voting took place on the Radio Times website over a five-week period from a shortlist decided by a panel of leading entertainment and media journalists.

The victory will no doubt delight Poldark fans after the show failed to earn a single nomination across any of the major BAFTA categories.

The drama – written by Debbie Horsfield – is based on Winston Graham's first two Poldark novels and follows in the footsteps of the 1975-77 series of the same name starring Robin Ellis and Angharad Rees.

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The 2015 series – which also stars Heida Reed and Ruby Bentall and featured Warren Clarke in his final role – began airing in March 2015 and peaked at 9.4 million viewers. A second series has been filmed and is expected to air later this year.

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