Los Angeles: "The Nanny" star Ann Morgan Guilbert has lost her battle with cancer at the age of 87.
Her daughter, Nora Eckstein, confirmed the death, reported Variety.
Guilbert was best known for her five-season run on classic sitcom "Dick Van Dyke Show", on which she played Millie Helper, the neighbour and best friend of Laura Petrie, played by Mary Tyler Moore.
She also portrayed Fran Drescher's elderly grandmother, Yetta Rosenberg, on hit US comedy "The Nanny".
Guilbert began her TV career in the 1960s, appearing on popular programmes such as "I Dream of Jeannie", "My Three Sons", "The Alfred Hitchcock Hour", "The Partridge Family", "Love", "American Style", and "The New Andy Griffith Show."
More recently, she had cameos on "Grey's Anatomy", "Modern Family", and "Getting On."
Her final credit was for James Brolin's comedy "Life In Pieces" earlier this year.
She also appeared onstage multiple times, enjoying a stint in the 2005 Broadway play "A Naked Girl on the Appian Way."
Guilbert is survived by her two daughters, actress Hallie Todd and acting coach Nora Eckstein - her children with her first husband, producer/actor George Eckstein.
The two split in 1966 after 15 years together, and she later remarried actor Guy Raymond. He died in 1997.