Bob McGrath, one of the original Sesame Street stars, has died at 90

One of the original stars to host Sesame Street has sadly died at the age of 90.

Bob McGrath was one of four people hired to lead the new children's show in the late 1960s.

He was joined by Matt Robinson, who played the role of Gordon, Loretta Long, who starred as Gordon’s wife Susan, and Will Lee portrayed Mr. Hooper.

A statement was posted onto Bob's Facebook page that confirmed the sad death.

"Hello Facebook friends, the McGrath family has some sad news to share," the statement started.

"Our father Bob McGrath, passed away today.

"He died peacefully at home, surrounded by his family."

According to News Corp, the actor was called Bob on the show and he filmed an incredible 460 episodes for the programme.

Bob has been praised for the work he did on camera for all those years; no doubt being an icon for many kids growing up in the '70s, '80s, '90s and '00s.

Sesame Workshop said he will be sorely missed.

"Sesame Workshop mourns the passing of Bob McGrath, a beloved member of the Sesame Street family for over 50 years," it said on Twitter.

"A founding cast member, Bob embodied the melodies of Sesame Street like no one else, and his performances brought joy and wonder to generations of children around the world, whether teaching them the ABCs, the people in their neighborhood, or the simple joy of feeling music in their hearts.

"A revered performer worldwide, Bob’s rich tenor filled airwaves and concert halls from Las Vegas to Saskatchewan to Tokyo many times over.

"We will be forever grateful for his many years of passionate creative contributions to Sesame Street and honored that he shared so much of his life with us."