After the war he discovered he was one of just four survivors from his hometown, which had once had a Jewish community of some 800.
Mr Halter, whose paintings are displayed in the Imperial War Museuem, is survived by his wife Susie, their three children, Aloma, Ardyn and Aviva, and his grandchildren.
The funeral will take place on Thursday.
Karen Pollock, chief executive of the Holocaust Educational Trust, paid tribute to Mr Halter.
"He was a man who survived unimaginable experiences and who will be remembered by all of us at HET for his great intellect, talent , dignity and above all, his warmth," she said. "He will be hugely missed."
