Peter Cullen, the Canadian voice actor who is known for voicing Optimus Prime from The Transformers franchise, has passed away at the age of 85. Cullen's agent Kevin Motley confirmed the news of the actor's death to The Hollywood Reporter.

"He passed away peacefully, surrounded by his loving family -- and held in the hearts of his many friends and countless fans worldwide. We ask that you honour his remarkable legacy by serving your communities and leading others with compassion, integrity and loyalty and always remember 'be strong enough to be gentle,'" said his family in a statement.

Cullen has also worked on live action projects and has worked as an announcer on The Smothers Brothers Comedy Hour and The Sonny & Cher Comedy Hour.

He began voicing Optimus Prime in The Transformers animated series in 1986. He later reprised his role in MIchael Bay's live action films.

He is survived by his four kids.