Dennis Waterman’s ex-wife, Patricia Maynard, has announced the star’s official cause of death, revealing he died after suffering a long-term battle with lung cancer.

Maynard, mother to Waterman’s two daughters, relayed the devastating news to Daily Mail, revealing the famed actor had been suffering with the illness for two years prior to his death.

“I’m terribly sad that he’s gone but I’m really pleased that he did not suffer and died peacefully,” Maynard said.

Maynard admitted Waterman’s death had impacted their two daughters profoundly, revealing her ex-husband had been in bad shape for some time.

“He had lung cancer and was really quite poorly for the last couple of years. The girls are very upset,” she said.

Maynard went on to reflect on her previous marriage with Waterman, describing the union as “happy”, despite divorcing in 1987 after 10 years of marriage.

“The years that Dennis and I were together were happy. Obviously, it didn’t work out but lots of marriages don’t work out for whatever reason,” she said.

Maynard admitted she was content that her ex-husband had eventually found the right woman, revealing Waterman’s wife Pam Flint had been with him when he passed.

“But I’m so glad he found the right woman at the end. I think he was very happy with Pam and she was with him when he passed,” she said.

Waterman died on Sunday, May 8, with his family revealing the actor had “passed away very peacefully in hospital in Spain, on Sunday afternoon, with [his wife] Pam by his side”.

Fans were devastated by the news of his death, with many taking to social media to share nostalgic tributes to the late actor and his famed roles.

Waterman shares two daughters with ex-wife Maynard, Hannah Waterman, 46, and Julia Waterman, 43. The actor married four times throughout his life, his first union with Penny Dixon lasted nine years before he married actress Patricia Maynard and then Rula Lenska, who he was with for 12 years before his eventual marriage to Pam Flint in 2011.

The renowned actor was well known for his many law enforcement roles, particularly his role as Detective Sergeant George Carter in The Sweeney and retired police officer solving unsolved crimes, Gerry Standing, in New Tricks, 2003. Waterman’s favourite role throughout his career was bodyguard Terry McCann in the comedy-drama series Minder, 1979.

Waterman’s successful acting career included stints in theatre, in popular roles such as Alfred Doolittle in a Royal National Theatre production of My Fair Lady. The star also had a successful singing career, releasing three albums in the 1970s and ’80s, including singing the theme songs for many of his shows.