Australian actor Paul Cronin, best known for his role in The Sullivans and Matlock Police, has died aged 81.

His other roles included Solo One, Matthew and Son and A Place to Call Home.

In the video above: Home and Away star heads to the stage

Cronin won five silver Logies in his career.

He was surrounded by his daughters and grandchildren when he passed away on Friday night.

Cronin (second from left) as Dave in The Sullivans. Credit: AAP

“He was the most wonderful father, he was protective, he would have done everything for his girls. We loved him so much, he adored mum so much,” his daughter Susanne told The Herald Sun.

“We’re so proud of what he achieved in his career.

"He was determined to follow through on anything he set his mind to.