The tough guy and martial arts icon passed away Thursday morning, his family announced in a post on Instagram. 

'It is with heavy hearts that our family shares the sudden passing of our beloved Chuck Norris yesterday morning,' relatives said.

'While we would like to keep the circumstances private, please know that he was surrounded by his family and at peace.' 

It is unclear what medical emergency the actor suffered. 

His family paid tribute to Norris as a 'devoted husband, a loving father and grandfather, an incredible brother, and the heart of our family.' 

'He lived his life with faith, purpose, and an unwavering commitment to the people he loved,' their statement said. 'Through his work, discipline, and kindness, he inspired millions around the world and left a lasting impact on so many lives.' 

Norris was best known for action roles, including Walker, Texas Ranger and The Delta Force in the 1980s, before he became a cult figure on social media in his later years.

The actor was a renowned martial artist and fitness guru. Earlier this month, he celebrated his birthday by sharing a video of himself staying fit in a training session. 

The star captioned the clip: 'I don't age. I level up. I'm 86 today! 

'Nothing like some playful action on a sunny day to make you feel young. I'm grateful for another year, good health, and the chance to keep doing what I love.

'Thank you all for being the best fans in the world. Your support through the years has meant more to me than you'll ever know. God Bless, Chuck Norris.' 

Norris had largely stayed out of acting roles in his later years, but made minor cameos in action flicks, including The Expendables 2.

In the decades after his action movie success, Norris became a well-known meme on social media, where people would parody his tough-guy image in jokes. 

Norris was born in Oklahoma in 1940 and served in the US Air Force from 1958 to 1962. 

He received a star on the Hollywood Walk of Fame in 1989 and became a cult-like figure in the fitness and action industries. 

His first wife, Dianne Holecheck, passed away in December. The pair married in 1958 and shared two children, Mike, an actor, and NASCAR champion Eric Norris. 

Norris and Holecheck separated in 1988, the same year he married his second wife, Gena O'Kelly.

The couple had twins, Dakota and Danilee, in 2001. He also had a daughter in 1962 in an extramarital relationship. 

Norris's family said in their tribute that the actor was 'deeply grateful for the life he lived.' 

'The love and support he received from fans around the world meant so much to him, and our family is truly thankful for it. To him, you were not just fans, you were his friends,' the family said.