Alyssa Milano shared a poignant tribute to Charmed co-star Shannen Doherty following news of her death this weekend.

Its 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 wrote in a statement provided to People on Sunday.

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

Milanos statement alluded to the years of tension between the actors, who played sisters on the supernatural TV series Charmed from 1998 to 2001.

Doherty left the show in its third season and later claimed that Milano had been responsible for her characters premature exit.