His manager and friend, Steve Ivey, said Middlebrooks passed away in the Los Angeles area. No cause of death was released.
Middlebrooks' family members said in a statement that they "with sorrowed hearts, announce the passing of a young, black star" and requested privacy to mourn. "It was Windell's biggest wish that his final scene not be lived on social media," his family said.
In addition to playing the Miller High Life delivery man who revoked people's rights to drink the brew, Middlebrooks also appeared on Body of Proof, Scrubs and Cougar Town.