She died on April 12 in Princeton, N.J., her agent, Jacqueline Stander, confirmed.
The New York Times reports that Engel, a Christian Scientist, did not go to doctors and her cause of death isn't known, according to a family friend of the actress. "I will miss her and I know the world will miss her". She appeared in the sitcom The Betty White Show, reuniting her with White who had played Sue Ann Nivens on The Mary Tyler Moore Show.
Engel also had recurring roles on "Everybody Loves Raymond" and "Hot in Cleveland".
White paid tribute to her former co-star with a sweet photograph of the two calmly cuddling with a bear. "And insane talented. I will miss her", Valerie Bertinelli, who starred in "Hot in Cleveland", said in a Twitter post.
Engel was also an accomplished stage actress. She had a lengthy career playing comic characters on television and in theater.
Her prolific career included guest appearances on a variety of series, including "The Love Boat", "Fantasy Island", "Coach" and "Two and a Half Men".
Betty White and Georgia Engel pose with the cast of The Mary Tyler Moore Show, including Mary Tyler Moore and, back row from left, Ted Knight, Gavin MacLeod and Ed Asner, on November 21, 1975.
Engel appeared on Broadway in plays and musicals including "Hello, Dolly!", "The Boys from Syracuse" and, most recently, "The Drowsey Chaperone" in 2006-07.
White has been fond of Engel for years, even calling her a "pure gold" friend and co-worker in a 2012 interview.
Engel could be as upbeat as the fictional Georgette, as was demonstrated during a panel discussion a year ago promoting the 2018 PBS special, "Betty White: First Lady of Television". "And insane talented. I will miss her". Past year she starred in the musical Half Time, as a member of a senior hip-hop dance team that performs at National Basketball Association games.
"It was only going to be one episode", Engel said, "and I was just supposed to have a few lines in a party scene, but they kept giving me more and more to do".