Credit: Jamie McCarthy/Getty Images for G-Star

Shannen Doherty is mourning the loss of her father, who passed away last Friday at age 66.

In a statement to, she says her dad -- who had suffered a devastating stroke last Christmas Day and was the inspiration behind her decision to do Dancing With the Stars last year -- was "the greatest man in the world," her "heart and soul."

"We are beyond devastated," she tells Us. "My dad touched everybody he met and even those who didn't know him personally. The world is a much lonelier place without him.

"He was loved, adored, cherished and admired. He was a fighter and stood strong to fight his health issues until the very end. He was smart, beautiful in every way and was my best friend and rock," she concludes.

"I love him with every inch of my being and cannot imagine life without him."