Legendary actor Richard Chamberlain has died at the age of 90 after establishing a successful career in acting.

The actor, who was known for his ground-breaking role in medical drama Dr. Kildare, passed away on Saturday, March 29, after suffering from a stroke.

Chamberlain, dubbed “king of the mini-series” died only hours before his 91st birthday as announced by his publicist Harlan Boll.

The actor was remembered by his long-time partner Martin Rabbett, who said in a heartfelt statement, “Our beloved Richard is with the angels now.

“He is free and soaring to those loved ones before us.

“How blessed were we to have known such an amazing and loving soul. Love never dies.

“And our love is under his wings lifting him to his next great adventure.”

Chamberlain rose to fame after his starring role in 1961 as physician Dr. James Kildare on the hit TV medical drama series, which aired for five years.

In addition, he was also honoured as Photoplay magazine’s most popular male star for three consecutive years after scoring his greatest mini-series success in 1983 with The Thorn Birds.