The veteran actress passed away in her sleep at her home in Los Angeles, a family spokeswoman said.
Her cause of death has not been made public, but a statement said the Missouri-born actress had been healthy and active.
Roberts' performance as Ray Romano's meddlesome mother in the TV comedy about a dysfunctional family was one of her best-known roles.
Upon hearing of her death, Romano said: "Doris Roberts had an energy and a spirit that amazed me. She never stopped.
"Whether working professionally or with her many charities, or just nurturing and mentoring a green young comic trying to make it as an actor, she did everything with such a grand love for life and people and I will miss her dearly."
During Everybody Loves Raymond's nine-year run, she won the outstanding supporting actress in a comedy series award at the Emmys four times - and was nominated a further three times.
In 1983, she also won the outstanding supporting actress in a drama series award for her role in the medical soap opera St Elsewhere.
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