He was 74.
The musician's wife, Dorothy, and brothers, Rick and James, were by his side when he died Monday.
The Doors, which recorded and performed from 1965 to 1973, are known for the hits "L.A. Woman," "Break On Through to the Other Side," "The End," "Hello, I Love You," and "Light My Fire." The band, which was inducted into the Rock and Roll Hall of Fame in 1993, broke up two years after lead singer Jim Morrison's death.
Manzarek continued to perform, most notably with Nite City from 1977 to 1978, and with Manzarek-Krieger from 2001 until his death.