She was 91.
The theatre, film and TV star died at a nursing home in Hove with her sons Daniel and William Lawton at her bedside. Daniel Lawton told her local newspaper: "It was heartbreaking but it was peaceful. She just left us.
"She was a tiny woman but her constitution was incredible. She loved being on stage. Not only did she do it, but she was good at it. She was a star, and a mum."
Ms Bryan won a best actress Bafta for the 1962 film A Taste of Honey. She also enjoyed a successful stage career, playing the title role in Hello, Dolly. She became an OBE in 1996.
Writing on Twitter, Lionel Blair said: "So very sad to hear of the passing of my good friend Dora Bryan. She was wonderful."