The two stars were married for 14 years and are parents to two daughters – Rashida (pictured here) and Kidada.
“There is absolutely no combination of words that can express the sadness I feel after losing my beloved Peggy Lipton…. My wife of 14 years. We shared many, many beautiful memories, and most importantly, we share two incredible daughters… Pie (Kidada) & Doonkie (Rashida). Regardless of the paths that our lives took us on, I can say with the utmost certainty, that love is eternal. Thank you all for the love and support you’ve shown me and my family,” he wrote in a statement on Twitter.
Rashida and Kidada added in a statement that fans can make donations to Seasons Hospice in lieu of flowers or gifts.