Stiers had been battling bladder cancer, his agent Mitchel Stubbs, tweeted.
Stiers won an Emmy twice for his portrayal of the arrogant Emerson on the long-running series "M*A*S*H."
Stiers also found work doing voiceovers for cartoons, movies and video games.
He lent his voice to eight Disney animated movies including as Cogsworth in "Beauty and the Beast," Gov. Ratcliffe and Wiggins in "Pocahontas," and the Archdeacon in "The Hunchback of Notre Dame."
He was also an acclaimed musician, serving as guest conductor of the Newport Symphony more than 70 times, according to The Oregonian.