Sid Krofft, the co-creator of the classic TV series “Land of the Lost” and “H.R. Pufnstuf,” has died.

According to PEOPLE … the TV icon died peacefully in his sleep on Friday at the home of his friend and business partner, Kelly Killian.

Krofft was an award-winning producer and puppeteer whose decades-long career included the creation of the classic shows “Donny & Marie,” “Mutt & Stuff,” and “Pryor’s Place.”

Krofft didn’t do it all on his own — his brother worked alongside him, creating the shows.

His career was essentially launched when he was 16 … when he began performing in vaudeville and burlesque shows. As time went on, he also had appearances with the Ringling Bros. and Barnum & Bailey Circus.

Being a puppeteer was his first love … but he definitely had a talent for making great television.

Krofft was 96.