Leonard Nimoy's grandchildren have paid tribute to the late actor in a touching new article.

The Star Trek legend became a household name after winning the role of Mr. Spock in 60s TV series, and went on to become one of the most respected names in Hollywood.

He passed away last week at the age of 83 following a battle with chronic obstructive pulmonary disease.

His grandchildren Morgan Pearson, 36, Alex Schwartz, 30, Dani Schwartz, 25, Maddy Nimoy, 24, Spencer Schwartz, 23, and Jonah Nimoy, 22, who liked to call him Poppi, have penned a tribute for People magazine.

"He was a renaissance man. He knew how to do everything from flying a plane to fixing a vacuum to setting up aquariums. Our favourite memory is when he would drive us around on his boat on Lake Tahoe every summer," they remembered.

"He would let us each drive the boat, with him right next to us if something went wrong. He would take us river rafting where the ride was so bumpy everyone kept falling out of the boat, but Poppi kept us all safe and kept us cracking up the entire time."

Leonard had two children, Adam and Julie, with his first wife Sandra Zober. He later married actress Susan Bay.

The family reveal that while Leonard wasn't a big talker, he did like to recall showbiz stories.

"He spoke the most about life as an actor before Spock than life in Hollywood. He told us how he didn't have a job that lasted longer than a week before Star Trek. He had an unbelievable memory," they smiled.

As well as acting, Leonard became an accomplished director and helmed 80s classic Three Men and a Baby.

His home wasn't full of memorabilia from his illustrious career, but he did like to keep memories in his home office.

"It makes us feel proud that he was so beloved by his peers. There has been an overwhelming response in the past few days and we all couldn't be more thankful and honoured.

"We will always be able to hear his voice in Star Trek episodes, interviews and on his albums. When we're missing our Poppi, we can go watch him online somewhere. That way he never really leaves us," they said.

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