Michael Madsen may have been rough around the edges on the big screen, but he was a pure diamond to those who knew him best.

The beloved actor, best known for his tough guy characters in films such as “Reservoir Dogs” and the “Kill Bill” movies, died on July 3 of cardiac arrest, manager Ron Smith confirmed to USA TODAY. He was 67.

Madsen’s sister, fellow actor Virginia Madsen, paid tribute to her late brother in a heartfelt post on Instagram, which featured a black-and-white throwback photo of the sibling pair alongside their mother Elaine Madsen.

“My brother Michael has left the stage,” Virginia, 63, wrote. “He was thunder and velvet. Mischief wrapped in tenderness. A poet disguised as an outlaw. A father, a son, a brother — etched in contradiction, tempered by love that left its mark.”

In the 1990s, Virginia and Michael appeared together in the films “Blue Tiger” (1994), “The Florentine” (1999) and “Ballad of the Nightingale” (1999).

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“We’re not mourning a public figure. We’re not mourning a myth — but flesh and blood and ferocious heart,” Virginia continued, “who stormed through life loud, brilliant, and half on fire. Who leaves us echoes — gruff, brilliant, unrepeatable — half legend, half lullaby.”

Virginia added that she will miss the “inside jokes” she shared with her elder sibling, as well as “the boy he was before the legend.”

“In time, we’ll share how we plan to celebrate his life,” she concluded. “But for now — we stay close, and let the silence say what words can’t.”

Michael Madsen dies: ‘Reservoir Dogs’ and ‘Kill Bill’ star was 67

Former costars Vivica A. Fox, Harvey Keitel remember ‘poet’ Michael Madsen

Actress Vivica A. Fox, who costarred with Madsen in the films “Kill Bill Volume 1,” “Kill Bill Volume 2” and “Garlic & Gunpowder,” reflected on the “pleasure” of collaborating with Madsen in a statement to USA TODAY.

“Michael was a talented man with an AMAZING onscreen presence!” Fox said. “My deepest condolences (and) prayers to his family.”

“Reservoir Dogs” star Harvey Keitel, who played Larry Dimmick opposite Madsen’s Vic “Toothpick” Vega, reminisced on working with the actor on the 1992 Quentin Tarantino flick.

“We’ve lost another great American poet,” Keitel said in a statement to The New York Post. “I’ll never forget one of the best scenes I’ve ever seen on film — of (Michael) and Chris Penn fighting in ‘Reservoir Dogs.’ A great love scene.”

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James Woods, Robert Rodriguez pay tribute to ‘larger than life’ Michael Madsen

Actor James Woods, who appeared alongside Madsen in the films “The Getaway” and “Straight Talk,” mourned the actor’s death in an emotional post on X.

“Oh man, this is a hard one,” Woods said. “I was always touched by his sweet nature and generosity, the absolute opposite of the ‘tough guys’ he portrayed so brilliantly. Rest in peace, dear friend.”

Director Robert Rodriguez fondly recalled his collaboration with Madsen on the 2005 film “Sin City,” sharing that he allowed the actor to improvise dialogue on the comic book adaptation because of his writing prowess and comedic flair.

“Michael was so larger than life,” Rodriguez wrote in an X post. “We just felt he would make a much better partner to Bruce Willis’ detective, I mean, what an ultimate cop team! And he was just an absolute joy to work with. I will miss you Michael, you truly are one of the greats.”

Billy Baldwin, more laud ‘dynamite’ Michael Madsen

William “Billy” Baldwin, who worked with Madsen on films such as “The Broken Key,” “2 Graves in the Desert” and “South of Hope Street,” paid tribute to his former costar’s charisma in an X post.

“Fitting that Michael Madsen would pass away on 4th of July weekend,” Baldwin reflected. “He was no firecracker… a total stick of dynamite on screen and in life.”

“Michael Madsen has departed,” Titus Welliver wrote on X. “Mike leaves behind a body of work that will never be forgotten. Rest brother, too young.”

“Michael Madsen was a dream to work with,” wrote Rob Schneider on X. Schneider worked with Madsen on an episode of his sitcom “Real Rob.”

“A truly gifted actor (and) gentleman who made every person on the set comfortable; generous with his stories (and) with his infectious laughter. I only wish we could have done more things together in this crazy business.”

Contributing: Anna Kaufman, USA TODAY