His most-famous moment came in the 1967 National Football League championship game - known thereafter as the "Ice Bowl" - when he scored on a quarterback sneak in the final seconds to give Green Bay a 21-17 victory over the Dallas Cowboys.
The Packers said Starr died in Birmingham, Alabama, where he lived.
According to the Packers, Starr suffered two strokes and a heart attack in September 2014.
President Richard M. Nixon, speaking at a testimonial dinner for Starr in 1970, said: "The Sixties will be described as the decade in which football became the number one sport in America, in which the Packers were the number one team, and Bart Starr was proudly the number one Packer".
Until Brett Favre came along, Starr was known as the best Packer ever. The Packers retired his No. 15 jersey in 1973. Starr's unrivaled performance, leadership and reputation in an era when quarterbacks played second fiddle to runners were cemented with his induction into the Pro Football Hall of Fame in 1977 and immortalized by the eternal memories of his rushing touchdown in the Ice Bowl, a seminal moment in franchise history, that preserved victory over the Dallas Cowboys in the 1967 NFL Championship Game.
Each week in 2019, the NFL has designated one game to commemorate the league's 100th season, picking matchups that represent "a momentous game played, a fierce rivalry that spans decades, a matchup of original teams and/or a game in which history was made". No other starting quarterback has won more than four championships. He credited Lombardi for showing him "that by working hard and using my mind, I could overcome my weakness to the point where I could be one of the best".
Then, five games into the season, Lombardi changed his mind again.
The Packers will be featured in the "NFL100 Game of the Week" during Week 1, Week 7 and Week 8.
Starr was born in Montgomery, Alabama, on January 9, 1934.
Starr was a four-time Pro Bowl selection and two-time All-Pro. He was named NFL's MVP by The Associated Press in 1966.
"It was 20 degrees the day before", the late Tom Landry once recalled. He found his greatness under the leadership of Vince Lombardi.
Starr last visited Lambeau Field in 2017 to take part in the festivities commemorating the 50-year anniversary of the team's 1967 championship.
Starr was a championship quarterback at Montgomery's Sidney Lanier High School, but played at Alabama during a tumultuous time in the program's history.
He always seemed to deliver in the clutch."He called the right thing at the right time and he executed it", said Boyd Dowler, Starr's favorite receiver during the nine years they played together under Lombardi. "Let's face it, they obviously were not accustomed to something like that and yet they were the team which had surged and come back in the second half and were in a position to win it".