Tributes poured in from across football and public life for the "giant of the game".
The iconic forward was diagnosed with dementia in 2020. He died surrounded by his family.
The Prince of Wales, who is president of the Football Association, said in a personal message on social media: "Sir Bobby Charlton.
"First Division Champion. European Champion. World Champion. Gentleman. Legend.
"A true great who will be remembered forever. Thank you Sir Bobby. W"
Only Sir Geoff Hurst, 81, now survives from the XI that beat West Germany 4-2 at Wembley Stadium in 1966. Sir Bobby, then 28, played alongside elder brother Jack on that glorious July day.
Sir Geoff, the first man to score a hat-trick in a World Cup final, said: "Very sad news.
"We will never forget him and nor will all of football. A great colleague and friend."
United's current team wore black armbands and there was a minute's applause before last night's Premier League match at Sheffield United.
The club said: "Manchester United are in mourning following the passing of Sir Bobby Charlton, one of the greatest and most beloved players in the history of our club.
"Sir Bobby was a hero to millions, not just in Manchester, or the United Kingdom, but wherever football is played around the world.
"He was admired as much for his sportsmanship and integrity as he was for his outstanding qualities as a footballer.
"He went on to serve the club with distinction as a director for 39 years.
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