James Avery's publicist, Cynthia Snyder, told The Associated Press that Avery died on Tuesday in Glendale, California, following complications from open-heart surgery.
Avery served in Vietnam in the US Navy from 1968 to 1969, before he began writing TV scripts and poetry for the Public Broadcasting Service (PBS).
He is survived by his wife of 26 years, Barbara, his mother, Florence Avery, and his step-son, Kevin Waters.
Avery had been working until September this year on the Zach Braff film Wish I Was Here, which will premiere at the Sundance Film Festival later this month.
Ms Snyder said plans were being made for a memorial service.