The famed Mexican-American actress died of liver cancer on Thursday evening (July 26).
She was surrounded by her family and friends when she passed away, including her Selena co-star Jacob Vargas.
Ontiveros is known as one the most recognisable Latina actresses in Hollywood.
Although Ontiveros once joked to NPR in 2009 that she played a maid more than 150 times in her career, she appeared in a variety of roles.
She portrayed the convicted murderer of Selena in the 1997 film of the same name, a theatre director in 2000's Chuck & Buck - for which she was nominated for 'Best Supporting Actress in a Motion Picture' at the Independent Spirit Awards - and the overbearing mother of America Ferrera's character in 2002's Real Women Have Curves.
Her most recent role was on Desperate Housewives as the mother-in-law to Eva Longoria's Gaby.
Longoria took to her Twitter to share her condolences, posting: "I'm deeply saddened at the news of my dear friend Lupe Ontiveros passing. She was more than a colleague to me, she was my family. My heart is with your family Lupe."
Jennifer Lopez, who played the titular singer in Selena, expressed in a statement: "I am tremendously saddened by the news of Lupe's passing! I've enjoyed her work throughout the years.
"She was a great actress and working with her in Selena was an unforgettable experience. She will truly be missed."