According to Variety, the actress died of natural causes in New York City.
Besides her time on the judges' bench for both 'Law & Order' and 'Law & Order: SVU,' Belack is known for her film work, including memorable roles in 'Tootsie' and 'What About Bob?'
Other TV credits include 'Ellen,' 'The Golden Girls,' 'The Patty Duke Show,' 'Everwood' and 'Barney Miller.' Her last TV appearance was an episode of 'Sex and the City' in 2003.
Belack also provided voices for popular video games. Her final acting credit was for 2008's 'Grand Theft Auto IV.'
Her husband, theater producer Phillip Rose, died four months prior to her own passing. They had been married for 65 years.
On Oct. 17, a joint public memorial for Belack and Rose will be held at 12PM at the Ambassador Theater in New York City.