Legendary and award-winning actress  Diahann Carroll  —widely known for her trailblazing TV show  Julia , as well as her roles on  Dynasty  and  Grey’s Anatomy  —   died of cancer Friday in Los Angeles, her daughter, Susan Kay, confirms to PEOPLE. She was 84. Born Carol Diahann Johnson to subway motorman John and nurse Mabel Johnson in the Bronx, New York, Carroll grew up in Harlem, where her family moved when she was an infant. Carroll started her career at 15, modeling for  Essence  magazine but her heart was in performing: “I always knew I had to do something that was in front of an audience,” Carroll told PEOPLE in 2008. After graduating from New York’s High School of Music and Art, she briefly attended New York University to study child psychology. Those plans changed in 1954 when she won $3,000 on a TV talent show called  Chance of a Lifetime . Singing engagements at prominent New Yor...