Miller made hundreds of screen appearances during a career that spanned six decades. His first role was in Roger Corman’s 1955 western Apache Woman.
The US actor went on to appear in films like The Terminator, Piranha and the original 1960 version of The Little Shop of Horrors.
Miller died of natural causes at his home in Los Angeles on Wednesday, with his wife Lainie, daughter Barbara and granddaughter Autumn by his side.
In a statement Miller’s family said: “his sense of humour and the unique way he looked at the world won him many lifelong friends and worldwide fans.”