Kate Beckinsale’s mother has died, the actress announced Thursday.

Beckinsale revealed in a heartbreaking Instagram post that her mother, Judy Loe, died in her arms Tuesday after “immeasurable suffering.”

Loe, an actress, was 78 years old.

“I am paralysed [sic],” Beckinsale wrote. “Jude was the compass of my life, the love of my life, my dearest friend. The vastness and huge heart of this tiny woman has touched so many people who love her dearly.”

“She has been brave in so many ways, forgiving sometimes too much, believing in the ultimate good in people and the world is so dim without her that it is nearly impossible to bear. Mama, I love you so much,” the 51-year-old continued.

Beckinsale was emotional as she also shared that she was deeply affected by the death of her father, Richard Beckinsale, when she was just a child. The actor died of a heart attack at age 31.

“This has been my greatest fear since finding my father dead at five and I am here,” she wrote. “Oh my Mama.. I’m sorry, I’m so sorry. I am so sorry.”

Though she didn’t share her mother’s cause of death, the “Underworld” actress revealed last year that her mom was diagnosed with stage 4 cancer.

Last week, she shared video of herself singing to her mother at the hospital.

Earlier this month, Beckinsale shared that she was going through a “deeply painful” time in her life after a fan expressed concern about her noticeable weight loss in bikini photos she posted. She later deleted the photos.

“I’m going through one of the most deeply painful times of my life. The body keeps the score,” she said.

Beckinsale was clearly close with her mother, as she recently took to social media to share a sweet picture of them on a “Woman’s Realm” magazine cover when she was a child.