Stiles was also part of the Manchester United side which became the first English club to win the European Cup two years later, when they beat Benfica in the final at Wembley.
A statement issued by the Stiles family read: "The Stiles family are sad to announce that Nobby Stiles passed away peacefully today (30/10/2020) surrounded by his family after a long illness.
"The family kindly ask for privacy at this sad time."
Stiles was credited with playing a key role in neutralising the threat of Portuguese star Eusebio in the World Cup semi-final. In total he won 28 caps, the lowest number of any of the World Cup-winning side.
Stiles was born in Collyhurst, Manchester, in May 1942, during an air raid. He agreed apprentice terms with United in 1959, at a time when the club was still recovering from the Munich air disaster a year earlier in which eight players were killed.
He won league titles with the Red Devils in 1965 and 1967, before the continental success the following year.
Stiles left United in 1971, going on to play for Middlesbrough and Preston.
He later managed the Lilywhites between 1977 and 1981 - guiding them to promotion from the Third Division in 1978 - before coaching Canadian side Vancouver Whitecaps and then West Bromwich Albion, between 1985 and 1986.
He returned to United as a youth team coach under Sir Alex Ferguson in 1989 for a four-year stint.
More to follow.