Terry Crews on the 'Special' Brooklyn Nine-Nine Reunion Honoring Andre Braugher: 'We'll Always Be a Family' (Exclusive)

Though Fox's hit police procedural aired its last episode in 2021, Terry Crews says the cast of Brooklyn Nine-Nine have banded together as family — especially after losing one of their own.

Speaking exclusively to PEOPLE at the America's Got Talent season 19 red carpet on Tuesday, the actor, 55, opened up about the cast's New York City reunion earlier this month, and how the group celebrated the life of their late costar Andre Braugher.

"Oh man, reuniting with the cast," he sighed before offering a pensive smile. "We laughed, we cried, we missed Andre Braugher, who we lost a few months ago. It was our time to reminisce and just think about how special our time together was."

Last December, PEOPLE confirmed that Braugher, who took on the role of Captain Raymond Holt in the comedy series, had died after living with lung cancer. He was 61.

After spending eight seasons together — what Crews described as "a lifetime in television years" — the America's Got Talent host admitted that the show was an admirable feat he doesn't know will ever "repeat."

"To have a sitcom go that long — I don't know if it's going to happen again," he explained. "It's very rare and we all recognize how fortunate we are and we love each other. We'll always be a family. We'll always be connected."

"It's beautiful. It was wonderful," he added of the reunion.

Brooklyn Nine-Nine was a comedy series that followed the exploits of Detective Jake Peralta (Andy Samberg) and the NYPD's 99th Precinct which included Captain Raymond Holt (Braugher), Sergeant Terry Jeffords (Crews), Detective Amy Santiago (Melissa Fumero), Detective Charles Boyle (Joe Lo Truglio), Detective Rosa Diaz (Stephanie Beatriz) and Gina Lenetti (Chelsea Peretti).

The hit sitcom ran for eight seasons from 2013 to 2021.

When Braugher died in December 2023, Crews wrote a touching tribute to the late actor on Instagram that read, "Can’t believe you’re gone so soon. I’m honored to have known you, laughed with you, worked with you and shared 8 glorious years watching your irreplaceable talent."

"This hurts. You left us too soon. You taught me so much. I will be forever grateful for the experience of knowing you," he continued. "Thank you for your wisdom, your advice, your kindness and your friendship. Deepest condolences to your wife and family in this difficult time. You showed me what a life well lived looks like. Rest In Peace, Andre. I love you, man. 😢❤️ #ninenine"

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Earlier this month, a joint post was shared to Instagram by Crews and Fumero, showing the Brooklyn Nine-Nine cast smiling shoulder-to-shoulder after sharing a meal together. In addition to the rest of aforementioned cast, Joel McKinnon Miller (Detective Norm Scully) and Dirk Blocker (Detective Michael Hitcock) were also present at the reunion. The photo was the first time the cast had publicly reunited in three years.

"Could not have described last night any better…!" Crews wrote in the caption, adding the series' beloved group catchphrase, "NINE-NINE."

"We laughed. We cried a little. We reminisced. We laughed some more. Nine Nine Forever," he concluded.