My friend and neighbour Robert Farrant, who has died aged 81, led a quiet life in north London, walking his dog, Brindle, in the park, feeding the ducks and chatting to other dog owners.

Very few people in the neighbourhood knew that Robert had once been Bobby Shafto, a pop singer who charted in the US and graced stages across Britain.

When his mother became ill, Robert retired from performing to become her full-time carer, and rarely spoke about his past unless asked.

Born in Hornsey, he was one of four children of Samuel Farrant, a British Transport policeman, and Kathleen (nee Murray), originally from Ireland.

Robert left school aged 15, and, while playing in a rock’n’roll band in his spare time, found work as a tea boy in Lionel Bart’s Apollo Music publishing house. Bart heard him singing at the office and became his manager, giving Robert the moniker Bobby Shafto. Shafto released nine singles on Parlophone between 1962 and 1966, with She’s My Girl reaching No 99 on the US Billboard Chart in 1964.

From the 1970s onwards Robert focused on acting, using his real name. He portrayed Jesus in the original London production of Jesus Christ Superstar at the Palace theatre from 1972 to 1980, and played Agustín Magaldi in Andrew Lloyd Webber’s Evita (1986-87).

When Kathleen became ill in the early 90s, Robert moved in to care for her. He did one or two TV commercials, including one for Walkers crisps starring Gary Lineker, before retiring.

After his mother died in 2009, Robert moved to a flat of his own in Crouch End, sometimes helping out with the local school drama group.

I met Robert through our dogs. We would stop to chat – often about politics, and frequently about art, which Robert loved. He once told me about meeting David Hockney at a party and, noticing the artist wore mismatched socks, adopted the habit, adding splashes of colour to his daily walks.

Robert was humble, direct, funny and authentic, with a remarkable capacity for genuine connection. Over time, he became like a family member to us, coming for dinner and buying birthday presents for my children, much like a favourite uncle.

He was an avid reader of the Guardian and passionate about watching sports, particularly tennis and cricket. Devoted to Brindle, he was heartbroken when he died.

Robert is survived by a sister, Jilly, and brother, Mike.