“He was a much-loved husband, father and papa and will be terribly missed,” Docherty’s family told the Press Association.
“We ask that our privacy be respected at this time.”
Docherty was one of football’s most colourful and outspoken figures whose managerial career spanned 27 years and 12 clubs as well as a short stint in charge of the Scottish national team.
He was best known for his five years in charge at Manchester United between 1972-77.
The attack-minded Docherty could not prevent the club from being relegated to the Second Division, but brought them back up immediately and masterminded victory over Bob Paisley’s Liverpool in the 1977 FA Cup final at Wembley.
“We are deeply saddened by the passing of Tommy Docherty, who led us to FA Cup victory in 1977 with a thrilling, attacking team in the best traditions of Manchester United,” United said via Twitter on Thursday.
“Everyone at the club sends sincere condolences to Tommy’s loved ones.”
Docherty finished his playing career at Chelsea, whom he also managed between 1961-67 and delivered promotion back to Division One as well as a League Cup win in 1965 and FA Cup final appearance two years later.
“Everybody at Chelsea Football Club is very saddened to learn of the death of our former player and manager Tommy Docherty,” Chelsea said.
“Tommy was a legend of our game and our thoughts are with his family and close friends at this time.”
Docherty also had two stints in charge at QPR, who said: “It is with great sadness the club has learned of the passing of former QPR manager Tommy Docherty. Our thoughts are with his family at this time. May he rest in peace.”
As a player, Docherty earned 25 senior international caps for Scotland and featured at both the 1954 and 1958 World Cups in addition to later managing the team for a short 12-game spell between 1971-72, before leaving for Old Trafford.
He was inducted into the Scottish Football Hall of Fame in 2013.
“Football has lost a tremendous personality in Tommy Docherty,” said Scottish Football Association (SFA) president Rod Petrie. “He was tenacious on the park and a great leader off it.
“Tommy was a regular in the Scotland side in the 1950s that qualified for two World Cups, and his record as Scotland manager was impressive, albeit cut short by his decision to take the Manchester United job.
“He was on record as saying that the biggest regret of his career was leaving his Scotland managerial role and looking at the results and performances he inspired, it is hard not to wonder what might have been had he remained.
“His charisma and love for the game shone even after he stopped managing and it was entirely fitting that Tommy should be inducted into the Scottish Football Hall of Fame for his lifelong service. Our thoughts are with his family and friends at this difficult time.”
Former Manchester United winger Gordon Hill said: “What a sad day for me to hear the passing of my Old BossTommy Docherty, (The Doc). Great Manager who knew what style of Football to play. I can not express my memories of him, there are too many. He stands with the greats as a Elite Manager. R.I.P. TD.”
Though Docherty also turned out for Arsenal, Chelsea and Celtic during his playing days, he made over 300 appearances for Preston and reached the FA Cup final in 1954 in addition to winning the 1950-51 Second Division title. He later managed North End in 1981.
“Everyone at Preston North End is deeply saddened to learn of the passing of our former player and manager Tommy Docherty, who made over 300 appearances for the club,” Preston said.
“Our thoughts are with Tommy’s loved ones at this sad time.”
Celtic said: “We are saddened to hear of the death of Tommy Docherty who spent two years with Celtic in the 1940s. Sincere condolences go out to his family and friends. RIP.”