He was best known for playing Trigger in the popular series and was involved the one of its most famous scenes in which Del Boy, played by David Jason, fell through the bar.
Roger Lloyd Pack's agent, Maureen Vincent, confirmed the star died on Wednesday night at his home in London, surrounded by his family.
He had been suffering from pancreatic cancer.
The actor also appeared in comedy series The Vicar of Dibley and had a role in the fourth Harry Potter film The Goblet of Fire, as well as 2011 film Tinker Tailor Soldier Spy alongside Gary Oldman.
David Jason has paid tribute to his Only Fools and Horses co-star, saying he will "remember him with fondness".
He said: "I was very saddened to hear of Roger's passing.
"He was a very quiet, kind and unassuming actor who was a pleasure to work with.
"Although he played the simple soul of Trigger in Only Fools and Horses, he was a very intelligent man and a very fine actor capable of many roles.
"I shall remember him with fondness and for all the good times we had together."
Shane Allen, the BBC's controller of comedy commissioning, said: "The nation bids a fond and sad farewell to one of the most popular television sitcom actors of his generation.
"Roger Lloyd-Pack enjoyed a long and successful career which spanned everything from the hugely iconic Trigger to roles in Shakespeare at The Globe.
"He will be greatly missed and his work will live on for many years to come. Our thoughts are with his loved ones."
Lord Alan Sugar also paid tribute to Lloyd-Pack, writing on Twitter: "Sad news on the death of fools and horses actor Roger Lloyd-Pack (trigger) . One of my favourite TV characters. RIP."
Father Ted creator Graham Linehan added: "Very sad news about Roger Lloyd Pack. Trigger was an ancestor to Father Dougal and I'm glad I once had a chance to tell him so."