A frequent collaborator with director Gary Marshall, Brunner was best known for his work on the 1970s sitcom which starred Henry Winkler and Ron Howard, as well as actors Marion Ross, Don Most, Erin Moran and Anson Williams.
According to The Hollywood Reporter, Brunner died from a heart attack in his Northridge, California home on October 28.
Brunner produced thirty-seven episodes of Happy Days, fifteen of which he wrote.
He is credited with inventing the nickname for Winkler's 'Fonzie' character, as well as suggesting the idea for the show's now infamous 'jump-the-shark' scene along with Marshall.
Over a career spanning decades, Brunner also wrote episodes of Diff'rent Strokes, Three's Company,The Odd Couple and Laverne and Shirley.
Brunner is survived by his children Robert Jr, Jennifer and Elizabeth, as well as grandchildren Mikayla, Anna, Ashley, Matthew, Aaron and Robert III.
A private service was held on Tuesday (November 6) for Brunner's family at Forest Lawn Memorial Park.
Watch the opening to Happy Days below: