He played more than 150 times for each of Chelsea, Manchester United and Queen's Park Rangers, with shorter spells abroad for AC Milan and Paris Saint-Germain.
In a 20-year coaching career he was manager of QPR, Fulham and the Jordan national team, and assistant manager in two spells at Chelsea.
St George's Hospital issued a statement on behalf of the family.
"It is with great sadness we announce that Raymond Colin Wilkins passed away this morning," the statement, posted on the hospital's website read.
"We would like to thank St George's staff for the amazing work they have done to care for our beloved Ray.
"We would also like to say thank you for the many goodwill messages we have received from Ray's friends, colleagues, and members of the public.
"Ray leaves behind his loving wife, Jackie, daughter Jade, son Ross, and his beautiful grandchildren, Oliver, Frankie, Ava, Freddie, Jake and Archie.
"We are asking for privacy at this very difficult time."
-AAP