He was best known for his role in the long-running hit comedy series alongside David Jason as the dopey road-sweeper.
His agent, Maureen Vincent, said he had pancreatic cancer and had "died at home surrounded by his family".
Lloyd-Pack appeared in dozens of films and TV shows including a regular role as farmer Owen Newitt in The Vicar Of Dibley.
He was also in Tinker Tailor Soldier Spy, and Harry Potter and the Goblet of Fire.
Only Fools And Horses is due to return for a special one-off episode for Sport Relief in March.
It is believed the script has been written but it is not known if filming has begun.
The episode was due to feature Lloyd-Pack.
Father Ted creator Graham Linehan was among those paying tribute online.
He said: "Very sad news about Roger Lloyd Pack. Trigger was an ancestor
to Father Dougal and I'm glad I once had a chance to tell him so."
Lord Sugar tweeted: "Sad news on the death of fools and horses actor
Roger Lloyd-Pack ( trigger ) . One of my favourite TV characters . RIP."
Lloyd-Pack was born in 1944 into an acting family in north London, and his father Charles was a regular in Hammer horror films.
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