The actor, who was known to millions as Coronation Street binman Eddie Yates in the 1970s and 1980s, died "peacefully in his sleep" on Friday night.
It followed a "long courageous battle" with prostate cancer, his family said.
Hughes, who lived on the Isle of Wight, was also known for his roles as Twiggy in TV comedy The Royle Family and Onslow in Keeping Up Appearances.
He had thought he had beaten prostate cancer in 2009, but was told it had returned after collapsing at home in 2010.
Hughes first appeared in 1960s shows such as Z-Cars and The Likely Lads. He was the voice of Paul McCartney in the Beatles film The Yellow Submarine.
Other roles included Vernon in Heartbeat and Uncle Keith in teen drama Skins, guest-starring in episodes of Doctor Who, Casualty, Boon and The Upper Hand.
A Coronation Street spokeswoman said: "We are very sad to hear of the death of Geoffrey Hughes.
"He created a legendary and iconic character in Eddie Yates who will always be part of Coronation Street.
Everyone connected with the programme send our sincerest condolences to his family."
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