Titus Welliver had been a successful working actor for decades when along came Harry Bosch – and his life and career changed.

Now Bosch, the continually controversial LAPD detective created by Michael Connelly and played for the last 10 years by Welliver, says farewell with his final case in Prime Video’s “Bosch: Legacy.”

“It was 10 years of what I would call ‘a perfect storm’ and, yes, I could be cliché and use the expression, ‘All good things come to an end’ but, yeah, I will miss that,” Welliver, 63, allowed in a Zoom interview.  “Harry Bosch and I are linked, and I will continue to miss Harry. I really liked stepping into his moccasins.”

When did Bosch realize this is his career-defining role?

“I didn’t know that it would necessarily be the ‘defining’ character. I certainly knew the value of the material when I read the script, probably faster than I’ve ever read any script, and felt an immediate connection.

“I thought, I know who this guy is. I know how to play him. I got it.

“So when the first day of work Michael Connelly and I were standing outside the LA County Courthouse shooting a scene, Mike said to me, ‘Let me ask you a question. How long do you see yourself playing this character?’

“This was on the first day! I said, ‘As long as they’ll have me’ — and that was a genuine and probably one of the fastest answers I’ve ever given to a question.

“That still holds. And it only got better. When we were shooting the pilot, I did have that feeling that the character for me offered more nutrition or sustenance, artistically and intellectually, than I’d ever had.”

A police detective is a controversial job in the 21st century, yet there is this love, affection and a passionate connection people feel with Harry Bosch. Why?

“Because he’s a true antihero. There’s an accessibility there, because there’s a vulnerability. There’s an innate sadness about Bosch.

“He’s also a deeply driven guy. For all of his hard-edged toughness, if a person was a victim of a crime, they would want a detective like Harry Bosch. Who would be relentless and who would do whatever it takes.

“I don’t mean something in terms of being unlawful. But he’s dedicated. Then there’s his relationship to his daughter Maddie (Madison Lintz) that makes him very human.

“He’s a guy filled with love, which we see for his child. But he’s not necessarily warm and fuzzy.

“Harry’s least favorite subject to talk about is himself. He’s not an emotionally demonstrative guy,

“But we were able to penetrate his protective membrane through his relationship to Maddie. His humanity always comes through.”

“Bosch: Legacy” streams on Prime Video

Titus Welliver poses with Michael Connelly at the 2016 season 2 premiere of the “Bosch” series in West Hollywood, Calif. (Photo by Chris Pizzello/Invision/AP)