Havens, who performed at the original Woodstock, is known for his covers of pop and folk songs such as the Beatles' "Here Comes The Sun" and "Strawberry Fields Forever." He recorded music for more than 40 years before retiring just three years ago.
Havens released 21 studio albums, including 13 that charted on the Billboard 200. He worked with folk manager Albert Grossman, who also signed Bob Dylan and Janis Joplin.
A public memorial will be planned for a later date.