Filming has ended on hit US sitcom Frasier after 11 years, with the end of the show marked by champagne toasts and embraces between cast and crew on set.

The final hour-long episode, to be broadcast in the US on 13 May, was filmed in Los Angeles on Tuesday.

Star Kelsey Grammer hugged each member of cast in turn as the actors took their final bow before the audience.

The show won a record 31 Emmy Awards since beginning as a spin-off of the comedy Cheers in 1993.

The Paramount studio stage that had been used during the show’s life was filled with an audience of several hundred, including family and friends of the cast.

A dinner was served to the audience, with star Peri Gilpin – who plays Roz – handing out pizza to guests.

Guest stars on the final episode included Laura Linney, Anthony LaPaglia, Robbie Coltrane, Richard E Grant, Jason Biggs and Jennifer Beals.

“I’m never working this show again,” Grammer joked at one point after receiving the wrong direction from a member of the crew.

The last episode of the show includes a scene where the Seattle psychiatrist recites a play by Alfred Lord Tennyson with the line “That which we are, we are”.

The finale also remembered one of the series’ creators, David Angell, who died in one of the planes hijacked during the 11 September attacks on the US in 2001.

The show won the title of best comedy show at the Emmy Awards – the US TV industry’s main honours – every year from 1994-8.