Stage and TV actor Christopher Malcolm has died aged 67.

TV and stage actor, Malcolm was best known for his role as the original Brad Majors in the stage production of Richard O’Brien’s The Rocky Horror Show in 1974. In 1990, Malcolm took over as a co-producer for the West End revival of the musical. He is also well known for his role as Saffy’s gay dad, Justin in BBC comedy Absolutely Fabulous.

The sad news was announced over Twitter by his daughter, Morgan Lloyd Malcolm.

She wrote:

Today the world lost a beautiful, brilliant man. My dad Christopher Malcolm left peacefully and with dignity. He will always be my hero. X

— morgan lloyd malcolm (@mogster) February 15, 2014

Condolences poured in for the beloved actor, who also had roles in The Empire Strikes Back, Labyrinth and Highlander.

Christopher Malcolm passed? Gutted. Worked with him at a convention and he couldn’t have been a nicer guy.

— David Bedwell (@DavidBedwell) February 16, 2014

Very sad to hear the news of the passing of Christopher Malcolm. We had a fabulously turbulent relationship & I liked & respected him a lot. — Nathan Taylor (@TheNathanTaylor) February 16, 2014

RIP Christopher Malcolm, an icon to us in the Rocky Horror community & a true gentleman every time I met him — Joanne Weir (@jojoweir1974) February 16, 2014

Sad. Christopher Malcolm has died. One of those actors who you-know-but-don’t-know (the best kind) and the original Rocky Horror Show Brad.

— Bryson (@Escapade1935) February 16, 2014

Christopher Malcolm is survived by his wife, Judy Lloyd, his three children and his grandson.