Doris, who played the matriarch Marie Barone in the comedy sitcom for nine years, is survived by her only son Michael and three grandchildren, Kelsey, Andrew and Devon.
A spokesperson for the actress, Janet Daily, announced the news after being notified by Doris' son on Tuesday.
The cause of death has not yet been confirmed but tributes have begun pouring in for the sitcom star.
CBS broadcasters said; 'Doris will be remembered for lighting up every room she walked into with an unparalleled combination of energy, humour, warmth and even a little bit of grit.'
The show was filmed for nine years between 1996 and 2005 but is still re-run on Channel 4 every morning in the UK.
On-screen son Ray Romano told Entertainment Tonight; 'Whether working professionally or with her many charities, or just nurturing and mentoring a green young comic trying to make it as an actor, she did everything with such a grand love for life and people and I will miss her dearly.'
Doris with Ray Romano
Phil Rosenthal, the sitcom's creator, tweeted a short but poignant message to his followers; 'a wonderful, funny, indelible actress and friend.'
Doris was 79 when she finished filming Everybody Loves Raymond and in an interview spoke of her intention to keep acting if she could find the parts; 'Who knows after this? Nobody writes for older people.'
Peter Boyle, who played her fictional husband Frank Barone in the TV sitcom, died in 2005.
The four-Emmy award-winning actress was born in St Louis, Missouri, on 4th November 1925 and began her career on Broadway in New York in the 1950s.
Her credits, for which she has received a total of seven Emmy nominations, include 'The Last of the Red Hot Lovers' and 'Bad Habits', as well as 1980s TV detective series Remington Steele.
In later life Doris took to Hollywood and appeared in blockbuster films such as The Taking of Pelham One Two Three, opposite Denzel Washington and John Travolta.