Thomas Gibson Hires Lawyer After 'Criminal Minds' Firing

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Thomas Gibson has retained legal services after his firing from Criminal Minds last week, ET has learned. 

Skip Miller of Los Angeles-based law firm Miller Barondess confirmed to ET that his firm is representing Gibson.

WATCH: Thomas Gibson Fired From 'Criminal Minds' After On-Set Altercation

The action comes after the 54-year-old actor was let go from the show following an incident which allegedly involved Gibson kicking a writer in the leg during an on-set disagreement.

Gibson issued a statement in response to the firing on Friday.

"I love Criminal Minds and have put my heart and soul into it for the last twelve years," he said. "I had hoped to see it through to the end, but that won't be possible now. I would just like to say thank you to the writers, producers, actors, our amazing crew, and, most importantly, the best fans that a show could ever hope to have."

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The actor played FBI agent Aaron Hotchner on the CBS crime series since its debut in 2005.

Catch up quickly on the details in the video below.