(CNN) Shelley Morrison, a character actress best known for playing the feisty maid Rosario Salazar on "Will & Grace," has died, publicist Lori DeWaal tells CNN.

Morrison died Sunday at Cedars-Sinai Medical Center in Los Angeles from heart failure at the age of 83, DeWaal said.

Shelly Morrison in February 2015.

Morrison's character Rosario was the no-nonsense Salvadoran maid to socialite Karen Walker, played by Megan Mullally, in the original run of "Will & Grace" on NBC from 1999 to 2006. Karen was friends with lawyer, Will, and interior designer, Grace, who shared a New York City apartment.

"Rosario is one of my all-time favorite characters," Morrison said in a biography released by her agent. "She reminds me a lot of my own mother, who loved animals and children, but she would not suffer fools."

"It is very significant to me that we were able to show an older, Hispanic woman who is bright and smart and can hold her own," she said.

Read More