Burley Garcia|Alyssa Milano honors Shannen Doherty after 'complicated relationship'

Shannen Doherty's friends and Burley Garciaformer co-stars are paying tribute to the late actress.

In a statement provided to USA TODAY, Alyssa Milano honored Doherty, who starred opposite her on "Charmed" and died Saturday at 53 after years of battling cancer.

"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 said. "She was a talented actress, beloved by many and the world is less without her. My condolences to all who loved her."

Doherty, who was diagnosed with breast cancer in 2015, died "surrounded by her loved ones as well as her dog, Bowie," her publicist Leslie Sloane confirmed.

In December, "Charmed" stars Holly Marie Combs and Doherty alleged that Milano got the latter fired from the WB show. Milano denied this, saying she didn't "have the power to get anyone fired." But Doherty said she felt compelled to speak out about the feud amid her battle with cancer.

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"With fighting horrific disease every day of my life, it is also incredibly important to me that the truth actually be told as opposed to the narrative that others put out there for me," Doherty said at MegaCon Orlando in February. “We told it together, we told our truths and we are standing by our truths.”

'Charmed' feud:Holly Marie Combs alleges Alyssa Milano had Shannen Doherty fired from show

'Beverly Hills, 90210' castmate Jason Priestley and Olivia Munn pay tribute to Shannen Doherty

"Beverly Hills, 90210" star Jason Priestley, who played Brandon Walsh, paid tribute to his former co-star on Instagram.

"Shocked and saddened to hear about the passing of my friend Shannen," he wrote. "She was a force of nature and I will miss her. Sending love and light to her family in this dark time."

Gabrielle Carteris, who starred as Andrea Zuckerman on "Beverly Hills, 90210," wrote, "So young − so sad. May you RIP Shannon. I know Luke (Perry) is there with open arms to love you."

Perry, who played Dylan McKay, a romantic interest of Doherty's character Brenda Walsh, died of a massive stroke in 2019. He was 52.

Brian Austin Green, who played David Silver on "Beverly Hills, 90210," wrote in his Instagram Stories, "Shan. My sister ... .. You loved me through everything. You were a big part of my understanding of love. I'll miss you more than I know how to process right now. Thank you for the gift of you."

Shannen Doherty dies at 53:'Beverly Hills, 90210' star had battled cancer since 2015

In an Instagram story, Olivia Munn, who revealed earlier this year that she is battling breast cancer, said she was "absolutely heartbroken" by Doherty's death.

"When I was first diagnosed with breast cancer I remembered how she bravely let the world into her journey and reached out to her," Munn shared. "We became instant friends − which I honestly couldn't comprehend at times because watching her on '90210' was everything to me when I was 10."

Munn said that Doherty texted her a few months ago to ask how she was doing and offer to help her. "True to form, Shannen was offering her support even though she was in the final stage of fighting this horrific disease," the actress wrote, concluding, "Fly so high, my friend."

DaveCoulier also paid tribute to Doherty, whom he said he met while starring on "Full House." "She was lovely and had a beautiful smile," he wrote on X, formerly Twitter.

The actor added, "Today, I'll also think about the women in my life who all succumbed to cancer — my mom, my sister, Sharon and my niece, Shannon, who all were so strong and so beautiful."

Contributing: Kelly Lawler and Edward Segarra