Len Goodman, 'Dancing with the Stars' head judge, dead at 78

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'Dancing with the Stars': Charli D'Amelio and Mark Ballas say they have a soft spot in their hearts for Len Goodman

Mark Ballas tells Fox News Digital he has known judge Len Goodman since he was an infant, saying both he and Charlie D'Amelio have a soft spot for him as Goodman announces his retirement.

Len Goodman, long-time lead judge of "Dancing with the Stars," has "passed away peacefully," Fox News Digital can confirm.

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. The 78-year old died in hospice surrounded by family.

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

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Len Goodman had been battling bone cancer. (Christopher Willard/ABC)

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.

Fellow judge Bruno Tonioli shared a touching tribute to his friend on Instagram Monday morning.

"Heart broken my dear friend and partner for 19 years the one and only ballroom legend #lengoodman passed away I will treasure the memory of our incredible adventures and hundreds of shows we did together @bbcstrictly @dancingwiththestars they will never be anyone like you we will miss you," he wrote, along with several heart emojis.

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Carrie Ann Inaba also posted a moving video for her late friend, writing to Instagram in part, "Dancer. A teacher. A refined gentleman. A wonderful storyteller. A special soul. A mentor. A family man. And… A treasured friend. Saying goodbye at the end of last season broke my heart. But today’s news has shattered it all over again. I can’t believe that you’re gone," she added with a broken-heart emoji.

"You were one of a kind my dear friend. And I will cherish our memories and hold them close, while I join so many others in mourning your loss. Thank you for all that you shared with us. Your humor, your wisdom, your wit and your truth."

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During season 31 this past fall, Goodman announced he would be retiring from the show with the intention of spending more time with his family.

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Carrie Ann Inaba, Len Goodman, and Bruno Tonioli had served as judges together since the show debuted in 2005. (Eric McCandless)

Former pro Derek Hough was announced as Goodman's replacement.

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Speaking of his decision to retire, Goodman said last year, "Doing a live show you have to be at the top of your game and quick to react. And as one gets older, then things start to get more challenging," Goodman told People Magazine.

"I will miss the California sunshine, working with my fellow judges and the camaraderie with everyone on the show. I'll miss seeing the celebrities developing into dancers and I will miss being part of one of the most successful shows on TV."

Len Goodman was a former professional ballroom dancer. (Kelsey McNeal/Disney General Entertainment Content)

The Associated Press contributed to this report.