Robson had cancer and died at home in County Durham in northeast England with his family beside him, a family statement said.
He was diagnosed with cancer five times since 1991, but continued to work until November 2007.
His death came five days after he appeared in a wheelchair at Newcastle's St. James' Park. Thousands crowded the stadium to pay tribute and raise funds for his cancer charity.
Born Feb. 18, 1933, Robson played for England at the 1958 World Cup, and as coach led his country to its best World Cup finish since its 1966 title.
The coach was knighted in 2002 for his service to the sport.