LOS ALAMOS, Calif. (AP) — Actor Ron Ely, best known for his starring role in the 1960s NBC series “Tarzan,” has died. He was 86.

Ely died Sept. 29 at his home in Los Alamos, California, his daughter Kirsten Casale Ely announced Wednesday.

“The world has lost one of the greatest men it has ever known – and I have lost my father,” Kirsten wrote in an Instagram post.

Born June 21, 1938, in Hereford, Texas, Ely – pronounced EE-lee – was a tall, muscular actor whose first acting appearance was in the 1958 World War II film “South Pacific.” He was a supporting actor on the television sitcoms “Father.” Knows Best,” “How to Marry a Millionaire,” and “The Many Loves of Dobie Gillis.”

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In 1966, Ely landed the lead role in “Tarzan,” which ran for 57 episodes over two seasons. According to the New York Times, he performed almost all of his own stunts, which resulted in two broken shoulders, two lion bites and a torn back muscle.

“I was mentally and physically exhausted,” Ely said of “Tarzan” in a 2013 interview with Alan Mercer’s Profile. “At least I would have needed a few months to recover. My body was a wreck. I had so many pulled and torn muscles and broken shoulders, wrists and bones. Every part of me was hurt. I’ll pay it today when I get out of bed in stages.”

After “Tarzan,” Ely played the title character in 1975’s “Doc Savage: The Man of Bronze.” He also appeared in an episode of the television series Wonder Woman and Superboy and also hosted the game show Face. The Music” for two seasons in 1980 and 1981.

Ely took a break from acting in the 1990s to spend more time with his family and raise his young children. He appeared in an episode of “Sheena” in 2001 before landing his final acting role in the television film “Expecting Amish” in 2014.

In October 2019, Ely’s wife, Valerie Lundeen Ely, was stabbed to death in their home in Santa Barbara, California, by the couple’s son, Cameron, who was shot by police as they responded to the scene. In 2020, the Ely family filed a wrongful death lawsuit against the Santa Barbara Sheriff’s Office, claiming officers unnecessarily shot Cameron. A jury decided in 2022 that the police acted in self-defense.

Ely is survived by his daughters Kirsten and Kaitland Sweet and two grandchildren.