Legendary award-winning Australian actor Henri Szeps has died, aged 81.

Szeps is best known for his turn as dentist Robert Beare in the ABC sitcom Mother and Son, a role he played from 1984 to 1994.

His TV credits also include Number 96, A Country Practice, All Saints, Stingers, and mini-series Vietnam opposite Nicole Kidman, as well as dozens of feature film and stage appearances.

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He collected countless acting prizes and received an Order of Australia Medal in 2001.

Szeps has lived in a residential care facility for the past two years, after revealing he had been diagnosed with Alzheimer’s.

“His decline from Alzheimer’s was largely peaceful, and Henri retained his sense of wonder and joie de vivre until the end,” his family said in a statement.

He is survived by wife Mary, two sons and four grandchildren.