By Dan Snierson
Updated March 10, 2011 at 12:00 PM EST

Tony Danza has filed for divorce from his wife, Tracy Robinson, citing “irreconcilable differences,” according to documents in Los Angeles County Superior Court. The Taxi/Who’s the Boss star married Robinson in 1986, and the couple separated in 2006. Danza and Robinson have two daughters, ages 17 and 23.