Bacall, who married co-star Humphrey Bogart after starring with him in 1944 in her first film, To Have and Have Not, died at her home in New York following a stroke.
Her films included The Big Sleep, Key Largo (both with Bogart) How To Marry A Millionaire, The Mirror Has Two Faces, and Designing Woman.
She married Bogart in 1945 and the couple remained together until his death in 1957. She married actor Jason Robards in 1961 but they divorced in 1969.
The actress, who had three children, appeared recently on an episode of the American animated sitcom Family Guy as Evelyn, a friend of Peter's mother.
The sultry actress with the heavy-lidded eyes and husky voice won a number of acting honours, including Tony and Golden Globes, and in 2009 was awarded an Honorary Oscar.
Bogart's estate said: "With deep sorrow, yet with great gratitude for her amazing life, we confirm the passing of Lauren Bacall."
It led to a number of tributes. Actor Hugh Jackman said: "Lauren Bacall ... you will be missed. By me...and the entire world!
Joan Collins said Bacall was "one of the last of the iconic stars of the golden age of Hollywood."
Film historian Leonard Maltin said: "She was sexy, she was saucy and she projected a sense of intelligence, and amazingly, she was doing all that when she was barely 20 years old.
Family Guy creator Seth MacFarlane thanked Bacall for teaching "us all how to whistle" a reference to her quip to Bogart in To Have and Have Not: "You know how to whistle, don't you, Steve? You just put your lips together and... blow".