In "Frasier", the hit "Cheers" spinoff that aired from 1993 to 2004, Mahoney played Martin Crane, a disabled ex-policeman who parked himself in a battered old armchair in Frasier's chic Seattle living room.
Born in Blackpool in 1940 to a family evacuated from wartime Manchester, Mahoney later emigrated to the United States where he was granted citizenship after service in the military, according to a biography on online entertainment database IMDb.
He started his acting career in the 1970s, and joined the Steppenwolf Theatre. From there he went on to the film industry.
Sad news for television fans today, as an iconic actor from a long-running sitcom has sadly passed away. Mahoney won a Tony Award for Best Featured Actor in a Play in 1986, for his role in a Broadway production of The House of Blue Leaves, and made his film debut in Tin Men the following year.
Mahoney's voice may also be recognizable to younger generations, as he recorded dialogue for several animated movies in the late 90s and early 2000s, including Antz, The Iron Giant, and Atlantis: The Lost Empire. (1989) and "Barton Fink" (1991) before a 1992 guest appearance on "Cheers" helped him score his most famous role: Frasier (Kelsey Grammer) and Niles' (David Hyde Pierce) irascible dad Martin Crane on "Frasier".
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His final role was on his beloved Chicago theater stage in the play The Rembrandt, which wrapped last November.
The humble actor Mahoney, once said he misses theatre and wouldn't regret anything if he never came on camera again.
Tributes also poured in on Twitter from actor Ben Stiller, writer-director Cameron Crowe and NBC, while Frasier casting director Jeff Greenberg said they had spent "11 glorious years together". At the age of 11, he visited his sister - a war bride living in IL - and returned to Chicago eight years later under his sister's sponsorship, becoming a USA citizen in 1959.