The Los Angeles Times reports that Erwin passed away at his home in California last Wednesday.
Erwin picked up an Emmy nomination in 1993 for his role as "grumpy old man" Sid Fields in the hit comedy Seinfeld.
He began his career at the Pasadena Playhouse in 1940 and appeared in television shows including The Twilight Zone, Perry Mason, Lassie, Gun Law and Growing Pains. More recently, he worked on programmes such as The West Wing, Monk, The King Of Queens, Everwood and My Name Is Earl.
Erwin is said to have died from age-related causes.