Peggy Lipton, who starred in the 1960s television show The Mod Squad and in David Lynch's Twin Peaks almost three decades later, has died of cancer aged 72.

The actor's daughters, Rashida and Kidada Jones were with her when she passed away, according to a statement.

"We are heartbroken that our beloved mother passed away from cancer today," the statement said. "She made her journey peacefully with her daughters and nieces by her side.

"We feel so lucky for every moment we spent with her. We can’t put all of our feelings into words right now but we will say: Peggy was, and will always be our beacon of light, both in this world and beyond. She will always be a part of us."

Lipton played a Los Angeles undercover 'hippie cop' in The Mod Squad series. The actress was nominated for Emmys and was awarded a Golden Globe in 1971 for her role in the show.

The actress released an album of songs in 1968, simply entitled Peggy Lipton. The recording included a cover of the Goffin/King classic, It Might As Well Rain Until September.

Lipton married Quincy Jones, the legendary music producer in the mid-seventies and they had two daughters. The couple divorced in 1989.

The actress played Norma Jennings in David Lynch’s 1990s series Twin Peaks, reprising the role for Twin Peaks: The Return in 2017.