D'Angelo's daughter has admitted that she is in "absolute disbelief" after his death.

On Tuesday, the family of the R&B icon confirmed his death following a private and "prolonged" battle with cancer. He was 51.

Following this sad news, D'Angelo's daughter, Imani Archer, wrote an emotional letter to him on Instagram.

"Dear daddy, there are no words to describe this immeasurable loss," she wrote on Wednesday. "I'm in absolute disbelief and shock. you were my biggest hype man my protector my biggest musical inspiration the kindest and most selfless man and the best father anyone could've ever had."

The 26-year-old continued, "No one will EVER measure up to how brave and strong you are. Till the very end, you made sure to protect me from anything that would scare or hurt me. I love you so much Daddy."

Imani went on to say that she wished she had had more time to spend with the Brown Sugar singer, real name Michael Archer.

"For you to show me new music, play piano with me to our favorite songs, or to go back and forward about our favorite go to meals," she penned. "You're a one of a kind soul, and I'm so grateful you chose me to be your daughter. I'm not sure how I'll be able to live on without you, but I'll never forget all of your advice and things you've told me on how to get through this life. Dad...I miss you more than life and this is breaking my heart into a million pieces."

The singer concluded the heartfelt tribute by sharing that she will "carry on" D'Angelo's legacy, adding, "Everything I do will always be for you. I'm gonna miss you and hearing your voice every single day. I'll always be your BabyGirl."

D'Angelo is survived by his three children: Michael, Imani and Morocco.