The Los Angeles Times confirmed his Wednesday death.
The Detroit native performed in the pre-Temptations group Otis Williams & the Distants, then sang with Williams and The Temptations from 1971 to 1993.
Street can be heard on the group's signature hits "Papa Was a Rollin' Stone," "Superstar [Remember How You Got Where You Are,]" "Heavenly" and "Hey Girl [I Like Your Style.]"
The Times said Street enjoyed a successful solo career up until recently, touring widely in Europe last year.
He is survived by his wife and four children.