Summerall died in Dallas of cardiac arrest, said University of Texas Southwestern Medical Center spokesman Jeff Carlton.
"He was an extraordinary man and a wonderful father," said Susie Wiles, Summerall's daughter. "I know he will be greatly missed."
Summerall played 10 NFL seasons with the Chicago Cardinals and the New York Giants from 1952 to 1961.
He started covering NFL games for CBS IN 1964 and was part of network television broadcasts for 16 Super Bowls. Summerall also covered the PGA Tour and tennis.
Teaming up with John Madden, the pair became one of the most widely recognized announcing duos in television history. Summerall was the calm alongside Madden's storm.
At the end of their final broadcast together, Madden described Summerall as "a treasure" and the "spirit of the National Football League."
"You are what the NFL is all about, what pro football is all about, and more important, what a man is all about and what a gentleman is all about," Madden said.
Funeral arrangements have not been announced.