Len Goodman, long-time lead judge of “Dancing with the Stars,” has “passed away peacefully,”

Goodman was “a much loved husband, father and grandfather who will be sorely missed by family, friends and all who knew him,” a statement per his agent Jackie Gill read.

Goodman had been diagnosed with bone cancer. He was 78.

The legendary dancer and television personality is survived by his wife Sue Goodman, as well as his son James William Goodman.

A former professional ballroom dancer and British champion, Goodman served as head judge on “Strictly Come Dancing” for 12 years from its launch on the BBC in 2004. He left the show in 2016.  He began his stint on “Dancing with the Stars” in 2005.

Known for his cheeky one-liners and tough criticism, Goodman was endearing and beloved.

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