Gould died Saturday in Woodland Hills, Calif., after a battle with prostate cancer, The New York Times reports.
A five-time Emmy nominee, Gould played the patient and understanding Martin Morgenstern, Rhoda's father, on The Mary Tyler Moore Show and its spinoff, Rhoda. A decade later, he reunited with Mary Tyler Moore co-star Betty White on The Golden Girls, playing her character Rose's boyfriend, Miles.
Gould was a fixture on the small screen, appearing in more than 300 shows over his 50-year career. Other credits include St. Elsewhere, Hawaii Five-O, The Rockford Files, Lou Grant, Gunsmoke, Dallas, Touched by an Angel, Felicity, Judging Amy and Cold Case. His last TV role was on the final season of Nip/Tuck earlier this year.
In film, Gould was best known as the grifter Kid Twist in the 1973 Paul Newman-Robert Redford caper The Sting. Gould also co-starred in Woody Allen's Love & Death, Stuart Little and Patch Adams.
Gould is survived by his wife, Lea; daughter Deborah; sons Joshua and Lowell; and five grandchildren.