The British-Canadian star, who also acted in the film Seven Days, died from colon cancer at home in Canada.
Alan Scarfe (as Tokath, left) in a scene from ‘Star Trek: The Next Generation’
Scarfe was married to Barbara March, a fellow Star Trek actor who played Lursa
The 77-year-old passed away in Quebec on April 28, his family announced.
He played two separate Romulan characters in Star Trek: The Next Generation.
Scarfe also played Magistrate Augris in Star Trek: Voyager episode, and featured in Lethal Weapon III alongside Mel Gibson.
The actor leaves behind his children including daughter Antonia "Tosia" and son-in-law Austin - who looked after him before his death.