The award-winning actor's death was confirmed by daughter Brooke Bowman Thursday afternoon.
"It is with a heavy heart that I confirm the passing of my beloved mom Jessica. A working actor for over six decades, her greatest pleasure was bringing joy to others through her storytelling both on screen and off," she wrote in a statement obtained by Deadline.
"While her legacy will live on through her body of work, she will also be remembered by many for her wit, class and overall joie de vivre."
Walter is said to have died in her sleep on March 24.
The family has requested that, in lieu of flowers, those wishing to send gifts can make a donation to Guiding Eyes for the Blind.
Netizens took to social media after hearing the news to remember the prolific actor and some of her best moments.
Be advised, the footage below contains language and themes some may find offensive.
While her later comedic roles on "Arrested Development" and "Archer" are remembered by most fans, her portrayal of the title character in "Amy Prentiss" - a spinoff of "Ironside" - won her a Primetime Emmy Award for Outstanding Lead Actress in a Miniseries or a Movie in 1975.
Walter, who is survived by her daughter and grandson, lost her husband of nearly four decades, actor Ron Leibman, in 2019.