Kayla Pressman said in a statement late Thursday that Henderson passed away surrounded by family and friends. Entertainment Tonight reported that she died from heart failure, surrounded by her four children.
Henderson started off in musicals in the 1950s and performed on Broadway.
She became Carol Brady in the hit show about a widow with three daughters who marries a widower with three sons, setting up home in sunny suburban California.
The Brady Bunch first aired in 1969 and repeatedly returned to television in various forms, including The Brady Bunch Hour in 1977, The Brady Brides in 1981 and The Bradys in 1990.
Tributes to Henderson poured in on social media from numerous well-wishers.