The actor, best known for playing Trigger in the long-running comedy, died at home in London last night.
His agent, Maureen Vincent, said he had pancreatic cancer and had "died at home surrounded by his family".
Lloyd-Pack was born into an acting family in north London and his father Charles was a regular in Hammer horror films.
Although best-known for playing the dopey road-sweeper in Only Fools And Horses, Lloyd-Pack appeared in dozens of films and TV shows including a regular role as farmer Owen Newitt in The Vicar Of Dibley.
Father Ted creator Graham Linehan was among those paying tribute online.
He said: "Very sad news about Roger Lloyd Pack. Trigger was an ancestor to Father Dougal and I'm glad I once had a chance to tell him so."
Lloyd-Pack was also a successful stage actor, appearing regularly at Shakespeare's Globe in central London, but knew he would always be best known as Trigger.
In a 2012 interview with the Guardian, he said: "People will never stop shouting "Trigger!" at me in the street. The other day I jumped some lights on my bike because someone was hollering at me. A police van pulled me over, and when I stopped they also shouted: "Trigger!". It can be very annoying."
He was also politically active and a prominent campaigner for left-wing causes in the capital.
Lloyd-Pack's daughter Emily shot to fame in the 1987 film Wish You Were Here before stepping back from the celebrity limelight after struggling with health issues.
John Challis, best known as Boycie in Only Fools, said: "I spoke to Roger two days ago. Roger said it was a bit awkward to talk at that particular moment. It is very sad and very distressing.
"My thoughts are with his family. He was a remarkable man and he'll be missed. Roger is irreplaceable. It's a very sorry day."
Sir David Jason told of his "fondness" for his sitcom co-star and described him as a fine actor.
He said: "I was very saddened to hear of Roger's passing. He was a very quiet, kind and unassuming actor who was a pleasure to work with.
"Although he played the simple soul of Trigger in Only Fools And Horses, he was a very intelligent man and a very fine actor capable of many roles. I shall remember him with fondness and for all the good times we had together."
Shane Allen, the BBC's controller of comedy commissioning, said: "The nation bids a fond and sad farewell to one of the most popular television sitcom actors of his generation.
"Roger Lloyd-Pack enjoyed a long and successful career which spanned everything from the hugely iconic Trigger to roles in Shakespeare at The Globe.
"He will be greatly missed and his work will live on for many years to come. Our thoughts are with his loved ones."