Spencer Milligan dead at 86: Land of the Lost actor passes away in Wisconsin as his on-screen children pay loving tribute

Actor Spencer Milligan has died aged 86.

The Land of the Lost actor passed away on in Sturgeon Bay, Wisconsin on April 18 - with his on-screen children Wesley Eure and Kathy Coleman paying a loving tribute to him on Tuesday.

Milligan was best known for the role of Rick Marshall, the father of Will and Holly Marshall (played by Eure and Coleman), on the first two seasons of the iconic 1970s children's adventure television series. 

Eure, 72, captioned the video: It is so hard saying goodbye to our friend and TV dad, Spencer Milligan. We love you Spencer.

He said: 'This is a video we didn't want to have to make. We heard rumors, and finally it was confirmed. Not an easy day.' 

Coleman, 62, added: 'I’m a little speechless. He was a true father to us all. Thank God we got to see him one last time and spend some really beautiful moments with him. He was a great man. I really truly believe that. He will be missed.'

Milligan starred on Land of the Lost from 1974-1975 but left after the second season due to a dispute over merchandising profits and royalties from the show - with its producers.   

In a 2009 interview with the Associated Press, Milligan said of the drama: 'We had a difference of opinion, let's put it this way, on using my face for stuff and paying me—lunch boxes, compasses—where they were selling them and I thought it was only fair that everyone should get their fair share.'