The Jackson family patriarch had been battling terminal pancreatic cancer and was 'doing not well', a source told PEOPLE.
Grandsons Randy Jackson Jr. and Taj Jackson confirmed the news in tweets, writing: 'RIP to the king that made everything possible! I love you grandpa.
'Joe was loved by the entire family and our hearts are in pain. Let us grieve.'
Prince Michael Jackson, the son of late pop legend Michael Jackson, captioned a photo on Instagram: 'This man is and always will be an example or sheer willpower and dedication. He didn’t choose the path that was the easiest but he choose the path that was best for his family.
'You taught me to take pride in the Jackson name and what it really means, you taught me dedication in the face of adversity and most of all you showed me strength and fearlessness. There is and never will be someone like you. Fly free and until we meet again The Hawk.'
Daughter La Toya Jackson also paid tribute, writing: 'I will always love you! You gave us strength, you made us one of the most famous families in the world. I am extremely appreciative of that, I will never forget our moments together and how you told me how much you cared. #RIP Joe Jackson'
Joe is survived by his wife Katherine and their children Maureen, 68, Jackie, 67, Tito, 64, Jermaine, 63, La Toya, 62, Marlon, 61, Randy, 56, and Janet, 52.
Joe was also the father of Joh’Vonnie Jackson, 43, the daughter of Cheryl Terrell, whom he had a 25-year-long affair with.
This article originally appeared on New Idea.