Mr Perkins won the 1984 Logie award for Best Juvenile Performance for his role in the series All The Rivers Run.
Mr Perkins was remembered on Saturday by former Neighbours co-star and close friend David Clencie as a great mate with a beautiful soul.
"We had this incredible bond. We were mates to the very end," Mr Clencie told The Herald Sun.
"He was completely selfless. We had a wonderful time when we last saw each other, spending five hours talking in a local restaurant.
"I am so sad, really devastated to lose my mate."
A fan site dedicated to Jason Donovan tweeted: "Such sad news that #dariusperkins the original #ScottRobinson has died after battling cancer #RIP #Neighbours thoughts with all that knew him."
Another fan wrote: "Genuinely sad to hear about the death of Darius Perkins. I actually preferred his version of Scott Robinson in Neighbours to Jason Donovan's. Condolences to all who knew him."