Chuck Norris, the martial arts champion who became an action star in the hit series Walker, Texas Ranger, has died. He was 86.

His family released a statement on Friday, writing, “It is with heavy hearts that our family shares the sudden passing of our beloved Chuck Norris yesterday morning. While we would like to keep the circumstances private, please know that he was surrounded by his family and was at peace.”

“To the world, he was a martial artist, actor, and a symbol of strength. To us, he was a devoted husband, a loving father and grandfather, an incredible brother, and the heart of our family,” the statement continued. “He lived his life with faith, purpose, and an unwavering commitment to the people he loved. Through his work, discipline, and kindness, he inspired millions around the world and left a lasting impact on so many lives.”

The family said that while their “hearts are broken,” they are “deeply grateful for the life he lived and for the unforgettable moments we were blessed to share with him.”

“The love and support he received from fans around the world meant so much to him, and our family is truly thankful for it. To him, you were not just fans, you were his friends,” they added.

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Norris’ family said that they know many fans “had heard about his recent hospitalization.”

“We are truly grateful for the prayers and support you sent his way. As we grieve this loss, we kindly ask for privacy for our family during this time. Thank you for loving him with us,” the statement concluded.

Before he would become a star in movies and on TV, Norris was wildly successful in competitive martial arts. He became a six-time undefeated World Professional Middleweight Karate champion. He also founded his own Korean-based American hard style of karate known sometimes as Chun Kuk Do and the United Fighting Arts Federation, which has awarded more than 3,300 Chuck Norris System black belts worldwide. Black Belt magazine ultimately credited Norris in its hall of fame with holding a 10th degree black belt, the highest possible honour.

Born Carlos Ray Norris in Ryan, Oklahoma, on March 10, 1940, he grew up poor. At age 12, he moved with his family to Torrance, California, and joined the U.S. Air Force after high school, in 1958. It was during a deployment to Korea that he started training in martial arts, including judo and Tang Soo Do.

“I went out for gymnastics and football at North Torrance high,” he told The Associated Press in 1982. “I played some football, but I also spent a lot of time on the bench. I was never really athletic until I was in the service in Korea.”

After he was honourably discharged in 1962, he worked as a file clerk for Northrop Aircraft and applied to be a police officer, but was put on a waitlist. Meanwhile, he opened a martial arts studio, which expanded to a chain, with students including such stars as Bob Barker, Priscilla Presley, Donnie and Marie Osmond, and Steve McQueen, whom he later credited with encouraging him to get into acting.

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This story is developing. Please check back for further updates.

— With files from The Associated Press

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