Johnson died on Jan. 2 following a long illness, his representative confirmed to EW on Friday.
He returned to the series, this time as a pilot, one year later.
His other voice credits include ADR performances on television shows likeLaw & OrderandChicago.
Harry Johnson in ‘Buffy the Vampire Slayer.'.Hulu
In addition to his onscreen career, Johnson wrote several novels under the name Harry Castle.
He is survived by his wife and his stepchildren, Oliver and Penelope.
