Taylor was surrounded by her loved ones when she died Monday, the New York Daily News reported.
Best known for playing Huxtable matriarch Anna on the classic sitcom "The Cosby Show," Taylor also was a founding member of the New York theater group, the Negro Ensemble Company, and a cast member of "Sesame Street."
Her film credits include "Play Misty For Me," "Sommersby" and "Smoke."
The Daily News said Taylor is survived by two sons and five grandchildren.
"Clarice was a hip mother, fearless," Bill Cosby, who played her son Cliff on "The Cosby Show," told E! News. "She drove her Corvette all over Brooklyn and Harlem. Danica Patrick had nothing on her."