Ron will be best remembered by Friends fans for playing Rachel’s mean-spirited father, Dr Leonard Green, in multiple episodes of the hit sitcom.
He also won an Emmy for his lead role in the short-lived crime drama Kaz in the late 1970s, which he also co-wrote.
In 1993, he also won a Tony Award for his portrayal of Roy Cohn in the critically-acclaimed play Angels In America.
His agents confirmed that he died of pneumonia on Friday.
They told The Wrap: “We at Abrams Artists Agency are saddened to hear the news of Ron’s passing.
“Ron was an incredibly talented actor with a distinguished career in film, TV and theatre. Our thoughts go out to his wife, Jessica, and his family.”
As well as his work on Friends, Ron had a recurring role in The Sopranos, playing Dr Lior Plepler. He was also nominated for a Golden Globe for his leading role in the 1986 TV movie Christmas Eve.
Ron’s final role was in nine episodes of the animated series Archer, between 2013 and 2016.
The pair worked together on multiple occasions over the years, mostly on stage, but also in the film Dummy and an episode of Law & Order in 1995.
Ron was previously married to the Tony-winning actor Linda Lavin for 12 years.