The US-born actor died on Thursday surrounded by his family.

Soul played Kenneth "Hutch" Hutchinson alongside Paul Michael Glaser's David Starsky in the hit crime-solving TV series, which ran on ABC from 1975 to 1979.

The show grew so popular it spawned a host of children's toys.

Ms Snell said in a statement: "David Soul - beloved husband, father, grandfather and brother - died yesterday after a valiant battle for life in the loving company of family.

"He shared many extraordinary gifts in the world as actor, singer, storyteller, creative artist and dear friend.

"His smile, laughter and passion for life will be remembered by the many whose lives he has touched."

As well as Starsky & Hutch, Soul was known for his roles in Here Come The Brides, Magnum Force and The Yellow Rose.

He and Glaser reprised their roles in the 2004 remake Starsky & Hutch, starring Ben Stiller as Starsky and Owen Wilson as Hutch.

At the height of his fame, Soul also hit the music charts with the single Don't Give Up on Us.

He had lived in the UK for many years, performing in several stage roles.

In 2001, he won a libel case against a journalist who called The Dead Monkey, a play that Soul was in, the worst production he had ever seen - without having seen it.

Soul also played the titular talk-show host in Jerry Springer - The Opera in London's West End.