Stiers' agent, Mitchell K. Stubbs, tweeted that the actor died from bladder cancer.
"His talent was only surpassed by his heart", Stubbs said.
Stiers also found success as a voice actor, with his most famous role coming in Disney's animated 1991 adaptation of Beauty and the Beast as Cogsworth. Grew up on Star Trek, MASH, Better off Dead and of course Beauty and the Beast.
He was also in demand for narration and voiceover work. He also played Jumba in popular cartoon movie Lilo and Stitch. He went on to lend his voice to other Disney features, like Pocahontas (1995) and The Hunchback of Notre Dame (1996), as well as to a number of animated TV productions, including the 2000-02 Disney series Teacher's Pet.
Indeed, it was his voice that earned him his first screen credit - as the announcer in George Lucas' 1971 film "THX 1138".
His film credits included the Woody Allen films Mighty Aphrodite, Everyone Says I Love You, and The Curse of the Jade Scorpion, as well as Better Off Dead, Iron Will and The Majestic. So it was always poignant when an emotional crack opened in his self-satisfied mien. But his role as the stuffy but sympathetic Charles Winchester III in "M*A*S*H" cemented his reputation as an actor of comedic and dramatic range.
Stiers joined the M*A*S*H cast at the beginning of its sixth season and replacing Larry Linville after he left the series. Winchester, alike many of Stiers' characters, was a most beloved one and many fans have taken to Twitter to show just how much the great actor meant to them. It never seemed plausible that Burns made it through medical school and a surgery residency, let alone was sufficiently accomplished to be commissioned a major.