David Soul, best known for his role on Starsky & Hutch as Kenneth “Hutch” Hutchinson, died on Thursday, January 4, after fighting cancer and chronic obstructive pulmonary disease.

In a statement to PEOPLE, his wife, Helen Snell, described him as a “beloved husband, father, grandfather and brother.”

She went on to describe Soul’s various attributes, saying, “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.”

Soul featured in the crime drama Starsky & Hutch from 1975 to 1979, and he is also remembered for his appearance in Here Come the Brides, which aired from 1968 to 1970.

Along with Paul Michael Glaser and Bobby Sherman, the American-British actor appeared in the film. He appeared on a number of British TV shows, including Holby City, Lewis, and Little Britain.

In the 1980s, the actor and singer was convicted and imprisoned for domestic violence after hitting his seven-month pregnant wife.

He completed his probationary diversion program and was soon freed.

The late actor admitted his sorrow over his time in prison and later paid a visit to his cell to lecture his fellow inmates about domestic violence.