Actor Jerry Orbach, star of Law and Order, has died of prostate cancer, a representative of the show said.
Orbach played Detective Lennie Briscoe in Law and Order
The 69-year-old, who also starred in Dirty Dancing and Last Exit to Brooklyn, revealed he was battling cancer in early December.
He died in Manhattan on Tuesday night after several weeks of treatment.
Orbach had recently left Law and Order after 12 series to work on spin-off Law and Order: Trial by Jury playing the same character, Lennie Briscoe.
He had begun production on the new series when he was diagnosed with cancer but his manager at the time said it was hoped he would make a swift recovery.
As well as a star of stage and screen, Orbach was also an accomplished Broadway actor.
He won a Tony Award for his performance in Promises, Promises and also appeared in Chicago and 42nd Street.
Law and Order has remained one of American TV's most popular shows, exported around the world.
It has received a number of Emmy nominations, including best actor for Orbach in 2002.
It has also spawned a number of spin-offs including Law and Order: Special Victims Unit and Law and Order: Criminal Intent.
Orbach also received Emmy nominations for outstanding guest actor for Golden Girls and supporting actor in a miniseries for Broadway Bound in 1997.
He also voiced the animated candlestick Lumiere in the Disney hit Beauty and the Beast.
A native of New York's Bronx district, Orbach was married to musical actress Elaine Cancilla.