He received a Golden Globe nomination for his role in the first series.
According to his manager Michael Kaliski, he died Tuesday, February 7, 2017 at around 1:30 p.m. in Santa Clarita, California, with his son, Paul, by his side.
The 71-year-old actor had been battling pancreatic cancer, according to a statement from his family. In the original "Battlestar Galactica" series that ran from 1978-1979, he played Captain Apollo and in the 2003 remake, he played Tom Zarek.
May his soul rest in perfect peace.. Amen