His agent, Jeffrey Leavett, tells The Associated Press Glass died Friday of respiratory failure.
Although best known for "Barney Miller," Glass also appeared in dozens of other shows in a television, film and stage career dating to the early 1970s.
He was the spiritual shepherd Derrial Book in the cult science-fiction series "Firefly" and its film sequel "Serenity."
He got there with grace, humor & enormous heart. He was, among so many other things, my Shepherd. Raise, appropriately, a glass. Rest, Ron. pic.twitter.com/yzPly7TmgE— Joss Whedon (@joss) November 26, 2016
He also portrayed Felix Unger opposite Desmond Wilson's Oscar Madison in "The New Odd Couple," a 1980s reboot of the original film and television series.