"He died very peacefully at his home in County Durham with his wife and family beside him.
"A thanksgiving service in celebration of Bobby's life will be held at a later date for his many friends and colleagues."
On Sunday, Sir Bobby, who was suffering a fifth bout of cancer, this time in both lungs, was honoured by a crowd of more than 30,000 at Newcastle United's St James' Park who attended a match to raise money for his cancer charity.
While Robson was regarded like a favourite uncle by fans of his home town club Newcastle, who he managed for five years, he will be remembered with affection throughout the world of football.
The son of a coal miner, Robson was one of the most respected men in the game, enjoying a successful playing career with West Bromwich Albion and Fulham, winning 20 England caps before moving into coaching.
He made his name as a manager after taking over at unfashionable Ipswich Town in 1969, establishing them as regular title challengers and winning the FA Cup in 1978 and the Uefa Cup in 1981.
He was appointed England manager in 1982 and despite some difficult times he ended his eight-year reign by leading England to the World Cup semi-finals in Italy in 1990 where they lost to West Germany in a penalty shoot-out.
After finishing as national team manager, he began a European odyssey with spells in charge of Dutch club PSV Eindhoven, Sporting Lisbon, Porto, and Barcelona before taking over at Newcastle.
News of Robson's death led to a flood of tributes from within the game and further afield.
Prime Minister Gordon Brown said: "I had the privilege of meeting Bobby on many occasions. He epitomised everything that is great about football in this country. His passion, patriotism, dedication and professionalism knew no equal during his time both as a player and a manager.
"Over the past few years, he fought cancer with his characteristic tenacity and good humour. He will be sorely missed - not only in Newcastle and Ipswich, both of whom he served with such devotion, but by all sports fans in our country.
"My sincere condolences go to his wife Elsie and his family."
A minute's silence was held before West Ham United's match against Beijing Guoan, while floral tributes were already accumulating outside Ipswich's Portman Road stadium.
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