The author Jilly Cooper suffered a fatal head injury during a fall at her Gloucestershire home, an inquest has heard.

Cooper, 88, whose 18 novels include Riders and Rivals, was found by family at her home in Bisley at about 5pm on 4 October.

She was initially alert and paramedics transferred her to Gloucestershire Royal hospital, but her condition deteriorated, Gloucestershire coroners court heard.

She died in hospital, with her family present, at 8.30am on 5 October.

The senior coroner for Gloucestershire, Katy Skerrett, reached a conclusion of accidental death and said Cooper had died as a result of a traumatic subdural haematoma.

“The circumstances surrounding her tragic death were she had suffered an unwitnessed fall at her home address on 4 October,” Skerrett said. “She fell, perhaps down some stairs, sustaining a significant head injury.

“There were no suspicious circumstances surrounding her fall. She passed away later, on 5 October, with family present.”

Cooper is best known for the Rutshire Chronicles, which follow the scandals of the upper classes in the fictional Cotswolds county of Rutshire. The second novel in the series, Rivals, was adapted for Disney+ and released last year.

Her novels were often described as “bonkbusters”, but to her they were “a bit of everything”, she told the Guardian in 2016. “But if they want to call it bonkbuster they can – except it ought to be called ‘shagbuster’ now, bonk is out of date.”

Her death prompted tributes from high-profile figures including Queen Camilla, who said in a statement: “Very few writers get to be a legend in their own lifetime but Jilly was one, creating a whole new genre of literature and making it her own through a career that spanned over five decades … may her hereafter be filled with impossibly handsome men and devoted dogs.”

Cooper was given a damehood in the 2024 new year honours list for her services to literature and charity.

The former prime minister Rishi Sunak, famously a fan of her works, wrote on X: “Sad to hear of the passing of Dame Jilly Cooper, a storyteller whose wit and love of character brought joy to millions. My thoughts are with her family and fellow readers.”