Co-stars and celebrities have expressed shock and sadness at the death of Australian actor Julian McMahon, who lost his private battle with cancer, aged 56.

McMahon’s wife of 11 years, Kelly, confirmed on Saturday (AEST) that the Nip/Tuck star had passed away on Thursday in Clearwater, Florida.

“With an open heart, I wish to share with the world that my beloved husband, Julian McMahon, died peacefully this week after a valiant effort to overcome cancer,” she said in a statement to Deadline.

“Julian loved life. He loved his family. He loved his friends. He loved his work, and he loved his fans. His deepest wish was to bring joy into as many lives as possible.

“We ask for support during this time to allow our family to grieve in privacy. And we wish for all of those to whom Julian brought joy, to continue to find joy in life. We are grateful for the memories.”

McMahon was the son of former Australian prime minister Sir William McMahon, and heiress and socialite Lady Sonia McMahon.

Julian McMahon has been remembered fondly by those who worked with him. Photo: AAP

His acting career began in the late 1980s with a role on the Australian soap opera The Power, The Passion before joining Home and Away and then heading to the US.

McMahon appeared in a number of US productions including Profiler, Charmed, Fantastic Four, FBI: Most Wanted and Nip/Tuck, which earned him a Golden Globe nomination for his portrayal of plastic surgeon Dr Christian Troy.

More recently he starred in indie psychological drama The Surfer, with Nicholas Cage, which was filmed in Australia and is currently showing on Stan.

McMahon found lasting love with his third wife Kelly Paniagua. They began dating in 2003 and were married in 2014.

He was previously married to Baywatch actor Brooke Burns (1999 to 2001) with whom he had daughter Madison Elizabeth, 25, his only child.

His first wife was Australian actor-singer Dannii Minogue, whom he met on the set of Home and Away. They married in 1994 and divorced just over a year later.

Julian McMahon had lead roles in a number of successful US series including FBI: Most Wanted. Photo: Instagram

Charmed co-star Alyssa Milano was among those who had worked with McMahon who reacted to the news, saying she was “heartbroken”.

“Julian McMahon was magic. That smile. That laugh. That talent. That presence,” she wrote on Instagram.

“He walked into a room and lit it up—not just with charisma, but with kindness. With mischief. With soulful understanding.

“We spent years together on Charmed — years of scenes, stories, and so many in-between moments.

“He made me feel safe as an actor. Seen as a woman. He challenged me, teased me, supported me. We were so different, and yet somehow we always understood each other.”

Milano hailed the late actor as a “dear friend”, and she also offered her condolences to his family.

Kelly Carlson, who starred as McMahon’s on-and-off again wife in Nip/Tuck, said she was “completely shocked and saddened”.

“I didn’t know he wasn’t well, but my heart goes out to his wife Kelly and his daughter.

“It’s tough to process because he played my on-and-off husband, was a good friend and he was my acting partner.

“Jules, thank you for a great six-seven years together, we had so much fun … I know a lot of you are going to be really upset and I don’t blame you.

“I wish him a peaceful journey and I know he had a full and great life.”

Holly Marie Combs, who also starred on Charmed said McMahon had an “unyielding zest for life” and a sense of humour that would be “sorely missed”.

“The joy and laughter you were the direct cause of will always be remembered.”

Fantastic Four co-star Ioan Gruffudd said every encounter with McMahon was a “joy”.

“Even though we played each other’s nemeses, there was always so much lightness and laughter working together.

“It was an honour to be Dr Richards to his Dr Doom. My heart goes out to his wife and family. God speed Julian.”

-with AAP