Charlton had been diagnosed with lymphoma in the last year and was also battling dementia.
He spent his entire 21-year playing career at Leeds, making a joint club record 773 appearances, before retiring as a player in 1973 and going on to enjoy a successful and colourful career as a manager.
“Naturally, our thoughts are with Jack’s family and friends at this difficult time.”
The Football Association of Ireland said it is “deeply saddened to learn of the death of Jack Charlton, the manager who changed Irish football forever. Our thoughts are with Pat and the family at this sad time.”
The Football Association said: “We are devastated by the news that Jack Charlton, a member of our World Cup-winning team of 1966, has passed away.
“Our deepest sympathies are with Jack’s family, friends and former clubs.”