The former Huddersfield Town and Everton player died at The Bell House care home in Huddersfield, the clubs said.
He was diagnosed with Alzheimer’s disease in 2004 and died on Tuesday night.
“Ray is arguably the most successful and best-known player ever to pull on a Huddersfield Town shirt, having been a key member of England’s World Cup-winning team in 1966,” Huddersfield Town FC said in a statement.
The club said it was “devastated” to learn of his passing and said its thoughts were with his wife Pat and his sons Russ and Neil.
Wilson made his England debut in 1960 and went on to win 63 caps, 30 of those as a Huddersfield player.
He joined Everton in 1964 and reached the pinnacle of his career in the summer of 1966 as part of Sir Alf Ramsey’s England team who beat West Germany 4-2 in the World Cup final at Wembley.
Everton said it was “deeply saddened”, and added Wilson was “unquestionably one of the finest footballers to wear the royal blue jersey”.
Jimmy Greaves, who was also a member of England’s 1966 World Cup squad, paid tribute to the football hero.
“RIP RAY WILSON We had some laughs and some very late nights through the years and even with your illness you carried on coming with us and keeping us on our toes until about six years ago,” he posted on Twitter.
“In many peoples eyes the best English left back ever. Goodbye old friend.”
Wilson ended his football career in 1971 and subsequently worked as an undertaker for more than 25 years.
He spent his retirement with his wife Pat in Yorkshire.
Alongside several of his World Cup winning teammates, he was given an MBE for services to football in 2000 and was inducted into English Football’s Hall of Fame in 2008.