Joe's son, Perry, tells TMZ, Joe had a heart attack at his L.A. home Wednesday and was put on life support. He passed away Friday morning in a Santa Monica hospital.
Joe's career spanned more than 40 years and he was nominated for an Emmy in 1979 for his work on "The Rockford Files." He also had roles on "Magnum, P.I." and "The Sopranos." He was most recently in the movie "Chronic" which was released in 2015.
Joe had two sons and a daughter. He was 84.