According to the SAPA news agency, Petersen was shot dead during a robbery at his home in the Athlone township on December 16. Armed men shot him after robbing six other family members and locking them in their bedrooms. They then took Petersen to his living room where they shot him and fled with his mobile phone, cash and electronic equipment. According to police superintendent Billy Jones, "The body of the deceased was found in the TV room with a bullet wound in the neck. His hands and feet were tied with tie-strips."
Mourning his sudden death, the premier of the Western Cape Province, Ebrahim Rasool, called Petersen "one of the great gifts of our community to the nation." In a statement, he went on to say, "He was one of the most wonderful, talented and greatest human beings I have known. He was able to capture our entire history, express our deepest pain, articulate our joy, and demonstrate our humanity through music and drama."