Middlesex said Titmus died after a long battle against illness.
Titmus played 53 tests for England between 1955-75, taking 153 wickets at an average of 32.22. He continued playing international cricket despite losing four toes in a boating accident off Barbados during the 1968 West Indies tour.
Titmus made his debut aged 16 for Middlesex in 1949. His final appearance for the southern county was in 1982, aged 50 years and 276 days.
"As a cricketer, there is no doubt whatsoever that Fred Titmus was one of the best of postwar all-rounders," Middlesex said in a statement.
"Fred will be deeply missed by all those who played with him and by all those who were fortunate enough to have seen him performing for Middlesex and England."
