Tony Danza, 59, has filed for divorce from his wife of 24-years, Tracy Robinson, 52, citing irreconcilable differences, according to People magazine.
The couple were married in June 1986 but have been separated since 2006 They have two daughters, Katherine, 23, and Emily, 17.
Danza also has a son named Marc Anthony, 39, and a daughter named Gina, 27, from his previous marriage to Rhonda Yeoman. In 2008, Danza and his son Marc published a cookbook, "Don't Fill Up on the Antipasto: Tony Danza's Father-Son Cookbook."
Danza is best known for his roles in "Taxi" and "Who's the Boss?" Before getting into acting, he was a professional boxer and only lost three fights.
In 2010, Danza starred in an A&E reality show called "Teach," where he stepped in to teach English at a Philadelphia high school for a year. The actor plans on writing a book about the experience.