Lisa Henson, CEO of The Jim Henson Company, confirmed the news on the company's Facebook page today (August 25).
"Jerry Nelson imbued all his characters with the same gentle, sweet whimsy and kindness that were a part of his own personality," she said.
"He joined The Jim Henson Company in the earliest years, and his unique contributions to the worlds of Fraggles, Muppets, Sesame Street and so many others are, and will continue to be, unforgettable.
"On behalf of the Henson family and everyone at The Jim Henson Company, our deepest sympathies go out to Jerry's family and to his many fans."
Nelson was also involved in the creation of Sesame Street favourite Mr Snuffleupagus and played Gobo Fraggle, the central character on HBO's Fraggle Rock, reports the Daily Mail.
He began working with Jim Henson in 1965 and joined Sesame Street full-time in the early 1970s. Nelson was forced to retire from puppeteering duties due to ill health in 2004, but continued to voice the Count until his death.
Watch a video of Nelson as Count von Count below: