Engel was nominated for five Emmy Awards across her television career - including two nods for her performance in The Mary Tyler Moore Show.
More recently, Engel joined the cast of the CBS hit Everybody Loves Raymond as Robert's mother-in-law Pat, scoring three straight Emmy nominations for Outstanding Guest Actress in a Comedy Series from 2003 to 2005.
The musical, about older adults who school themselves in hip hop to perform in half-time shows, was staged in New Jersey previous year.
Bob Martin, who co-wrote (and co-starred in) Broadway's 2006 The Drowsy Chaperone, tweeted, "I have never met anyone who was less like anyone else than Georgia Engel".
Speaking to The Toronto Star in 2007, Engel recalled how her most famous role had started out as a much smaller part.
Engel's final credited television appearance came past year in the Netflix series "One Day at a Time".
Miss Engel also appeared in made for television movies as well as big screen features including Grown Ups 2, Open Season, The Sweetest Thing, and Doctor Doolittle 2.
"What you see is what you get".
Funeral services for Engel, whose survivors include her sisters Robin Engel and Penny Lusk, will be private, Quilty said.