Williams died at his home in Bristol on Friday, his family announced, reports bbc.com.
The award-winning animator, who was born in Toronto but moved to the UK in the 1950s, won awards for his work as animation director on the 1988 film, which starred Bob Hoskins.
The triple Oscar and triple Bafta winner also worked on two of the "Pink Panther" films and "Casino Royale".
"Who Framed Roger Rabbit", a live-action animated comedy set in Hollywood in 1947 in a world where humans and cartoon characters co-exist, was a critical and commercial success.
Williams, who was hired to supervise animation sequences, helped create the film versions of Roger Rabbit and his wife, Jessica, first depicted in the book, "Who Censored Roger Rabbit".
He won two Oscars for the film, in the special academy award category and for special effects.
His daughter, Natasha Sutton Williams, said her father - who had six children - had been suffering from cancer, in what she said had been quite a swift illness.
She said: "He really was an inspiration to everyone that met him. Whether they were animators, or from the top to the bottom of society. An incredibly generous, warm-spirited person who really wanted to learn about the world."
Williams, who was also a voice actor and writer, credited "Snow White" - which he saw at the age of five - as having a "tremendous impression" on him.
His first film, "The Little Island", was released in 1958 and won a Bafta, while his animated adaptation of Charles Dickens' "A Christmas Carol" in 1971 led to him winning his first Oscar.
During his lengthy career, Williams also wrote a how-to book called "The Animator's Survival Kit" and was animating and writing until he died.
( With inputs from IANS )