The Emmy-nominated actress died on Monday from heart failure and was surrounded by her family as she passed on.
She has two sons named William and James, as well as five grandchildren.
Taylor received an Emmy nomination in 1986 for her role as Anna Huxtable, Dr. Cliff Huxtable's mother, on the hit sitcom, however, she got her break in the 1960s when she appeared on Sesame Street as Harriet.
She also starred in movies such as Tell Me That You Love Me, Junie Moon and Clint Eastwood's Play Misty for Me and had a small role as Cousin Emma on the TV show Sanford and Son.
She and her Cosby Show co-star, Phylicia Rashad, were members of the Negro Ensemble Company, which helped to encourage and promote African-American actors in the 1960s.
Rest in peace, Clarice Taylor.
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