Alyssa Milano Pays Tribute to “Charmed” Costar Shannen Doherty: 'Someone I Deeply Respected'

Doherty died on Saturday, July 13 at age 53

<p>Paramount Pictures</p> Alyssa Milano and Shannen Doherty pose for a

Paramount Pictures

Alyssa Milano and Shannen Doherty pose for a 'Charmed' cast photo in 1999

Alyssa Milano is remembering Shannen Doherty.

Following Doherty's death at 53 this weekend after years of living with cancer, her Charmed costar shared a tribute with PEOPLE.

"It’s no secret that Shannen and I had a complicated relationship, but at its core was someone I deeply respected and was in awe of,” Milano, 51, said in a statement on Sunday, July 14. “She was a talented actress, beloved by many and the world is less without her. My condolences to all who loved her.”

Doherty's longtime publicist Leslie Sloane confirmed her death in a statement to PEOPLE on Sunday, noting that the "devoted daughter, sister, aunt and friend was surrounded by her loved ones as well as her dog, Bowie."

"The family asks for their privacy at this time so they can grieve in peace," Sloane added.

Related: Shannen Doherty, Star of Beverly Hills, 90210 and Charmed, Dies at 53: 'Devoted Daughter, Sister, Aunt and Friend'

<p>Richard Cartwright /The WB Television Network / Courtesy Everett Collection</p> Holly Marie Combs, Shannen Doherty and Alyssa Milano in 'Charmed'

Richard Cartwright /The WB Television Network / Courtesy Everett Collection

Holly Marie Combs, Shannen Doherty and Alyssa Milano in 'Charmed'

Milano and Doherty played sisters on Charmed alongside Holly Marie Combs from 1998 through the series' third season in 2001, when Doherty exited. The show itself wrapped after eight seasons in 2006.

As Milano referenced in her statement, the actresses previously made headlines for their off-screen relationship, most recently in December 2023 when Combs and Doherty claimed that Milano got Doherty fired from the show. Milano later claimed in an Instagram post in February of 2024 that she "did not have the power to get anyone fired," pinning the decision on late TV producer Aaron Spelling. After Milano's denial, Doherty spoke at MegaCon Orlando where she stood by her assertion and told an audience that "a lot of things have been said and a lot have been very hurtful."

“We told it together, we told our truths and we are standing by our truths,” Doherty said at the time.

Related: Shannen Doherty's Beverly Hills, 90210 Costars Pay Tribute After Her Death: 'I Know Luke Is There with Open Arms'

The Charmed cast also featured Rose McGowan (who joined the series in season 4 after Doherty's departure), Julian McMahon, Brian Krause, Dorian Gregory and more. Several members of the cast notably reunited for 90s Con in Connecticut in March of 2023. During a panel moderated by PEOPLE's Breanne L. Heldman, Doherty detailed the strength of her character Prue Halliwell.

"Prue was a very, very, very strong woman. I was a really strong woman. I played her as that. And I think that did have a definitive impression upon a lot of younger women who were watching the show, to grow up with that sort of inner strength and to help their families and take care of their families," Doherty said. "We're very much about empowering women and empowering women within the show."

Related: Shannen Doherty Opened Up About Wanting to 'Embrace Life' in Her Last PEOPLE Cover Story Before Her Death

<p>Viacom / courtesy Everett Collection</p> Alyssa Milano, Holly Marie Combs and Shannen Doherty on set of 'Charmed'

Viacom / courtesy Everett Collection

Alyssa Milano, Holly Marie Combs and Shannen Doherty on set of 'Charmed'

Just days before her death, Doherty announced that she was joining Charmed costars Combs, Brian Krause and Drew Fuller for the relaunch of the House of Halliwell: A Charmed Rewatch Podcast on iHeartPodcast Network. The first episode dropped on Monday, July 8.

Krause shared a tribute to Doherty on Instagram: "You showed me what strength is," he wrote. "You taught me to be fearless and live with purpose. To know your value and stick to your determinations. Forever loved! Truly heartbroken."

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