Robson was in charge of the national team from 1982 until 1990.
He managed teams such as Barcelona, PSV Eindhoven, Sporting Lisbon, Porto and Newcastle United during his career.
A statement issued on behalf of his family said: “It is with great sadness that it has been announced that Sir Bobby Robson has lost his long and courageous battle with cancer.
“He died very peacefully this morning at his home in County Durham with his wife and family beside him.
“Sir Bobby’s funeral will be private and for family members only. A thanksgiving service in celebration of Sir Bobby’s life will be held at a later date for his many friends and colleagues.
“Lady Robson and the family would very much appreciate it if their privacy could be respected at this difficult time.”
