Denver died Friday at Wake Forest University Baptist Hospital in North Carolina of complications from treatment he was receiving for cancer, his agent, Mike Eisenstadt, told The Associated Press. Denver's death was first reported by "Entertainment Tonight."
Denver had also undergone quadruple heart bypass surgery earlier this year.
Denver's wife, Dreama, and his children Patrick, Megan, Emily and Colin were with him when he died.
"Bob is the finest human being I have ever known," Dreama Denver said in a statement released by Eisenstadt. "He was my everything and I will love him forever."
Denver's signature role was "Gilligan," the inept first mate of the tour boat the Minnow, whose bumbling got a group of tourists marooned on an uncharted desert island for three seasons in the 1960s and several movies for decades afterward.