The veteran character actor died on Wednesday from pneumonia related to cancer. He was surrounded by friends and family in his Burbank, Calif., home at the time of his passing.
"Heaven got a great comedian and actor today," Lesser's daughter Michele said in a statement. "Thank you to all the people who helped make my father's last journey special, and surrounded with love. The doctors, nurses, and staff have been outstanding, and Dad was in phenomenal hands. His passing was peaceful, with great dignity, and surrounded by those who loved him dearly."
Besides his daughter Michele, Lesser is survived by his son David, daughter-in-law Julie and three grandchildren.
Check out this interview with Lesser in which he discusses Uncle Leo's worldwide fame: