The Emmy Award-nominated actress, known for her role in The Cosby Show, was suffering from heart failure.
Taylor played the recurring role of Dr Cliff Huxtable's mother Anna Huxtable in the comedy series, and was nominated for an Emmy in 1986 for her performance.
She was a seasoned performer on stage, radio, TV and film for over five decades. She was also a member of the New York stage group the Negro Ensemble Company in the early 1960s.
Her other television roles include David's grandmother Harriet on Sesame Street and Grady's cousin Emma in Sandford and Son.
Taylor also appeared alongside Liza Minnelli as Minnie in 1970's Tell Me You Love Me, Junie Moon. She also starred in Play Misty for Me and Five on the Blackhand Side.
Clarice Taylor retired from acting in 2009. She is survived by two sons and five grandchildren.