“The Sopranos” actor and broadway legend Robert “Bob” LuPone has died.

The Tony-nominated actor passed following a 3-year battle with pancreatic cancer, according to his rep.

The MCC Theater, an off-broadway space Bob founded, released a statement, saying he “lived fearlessly and with great curiosity, good humor, a boundless passion for connection, and a whole lot of heart. We will miss him deeply and always.”

Fans of “The Sopranos” will remember his work as Dr. Bruce Cusamano — the family physician and next-door neighbor to Tony. He also starred in “Sex and the City,” “Guiding Light,” and “All My Children,” for which he got a Daytime Emmy nom.

Bob, the brother of Patti LuPone, was born in 1946 in Brooklyn — he graduated from Juilliard School in ’68 with a degree in dance. His Broadway debut was the same year, in a production of Noel Coward’s “Sweet Potato.”

He later was nominated for a Tony award for his work in the original run of “A Chorus Line” … even convincing the director to play the role of Zach after the original cast member left the show. He received a best-featured actor Tony nomination for the role.

Bob is survived by his wife Virginia, his son Orlando, his sister Patti, and his brother, William.

He was 76.