The Welsh-Australian actor, who played the title role in the first season of Spartacus: Blood and Sand, passed away on Sunday in Sydney after suffering from non-Hodgkin lymphoma.
Whitfield's wife Vashti called her husband a "beautiful young warrior" who died on a "sunny Sydney morning" in the "arms of his loving wife".
> 'Spartacus' star Andy Whitfield dies - Hollywood pays tribute
Whitfield was diagnosed with Stage 1 non-Hodgkin lymphoma in March 2010. He was declared cancer-free two months later.
However, he suffered a recurrence of the disease later in the year, and was ultimately forced to leave the Starz drama after one season to undergo treatment.
Starz president and CEO Chris Albrecht said that the network is "deeply saddened" by the news.
"We were fortunate to have worked with Andy in Spartacus and came to know that the man who played a champion on-screen was also a champion in his own life," Albrecht said.
"Andy was an inspiration to all of us as he faced this very personal battle with courage, strength and grace. Our thoughts and prayers are with his family during this difficult time. He will live on in the hearts of his family, friends and fans."
Whitfield was replaced on Spartacus: Blood and Sand by Liam McIntyre, who described his predecessor as "so amazing" and "so supportive".
> Spartacus Liam McIntyre: 'Andy Whitfield is fantastic'
Watch the trailer for Spartacus: Blood and Sand below: