Sir Bobby died at his home in County Durham following a long battle against cancer - it was the fifth bout he had fought in 17 years. His wife Elsie was by his bedside.
He had beaten cancer on a number of occasions - bowel cancer in 1992, a malignant melanoma in 1995, and a tumour in his right lung and a brain tumour, both in 2006. Last year he launched the Sir Bobby Robson Foundation to raise money for cancer research.
A statement issued on behalf of his family said: "It is with great sadness that it has been announced that Sir Bobby Robson has lost his long and courageous battle with cancer.
"He died very peacefully at his home in County Durham with his wife and family beside him.
"Sir Bobby's funeral will be private and for family members only.
"A thanksgiving service in celebration of Sir Bobby's life will be held at a later date for his many friends and colleagues.
"Lady Robson and the family would very much appreciate it if their privacy could be respected at this difficult time.''