Chuck Woodson, a cousin serving as family spokesman, confirmed that Harris died at a Baltimore hospice last week.
Harris performed with the celebrated Motown act The Temptations from 1971 to 1975 and sang on hits including “Papa Was a Rollin’ Stone” and “Superstar (Remember How You Got Where You Are).”
Woodson says joining The Temptations was “the realization of a dream” for Harris.
Harris formed a new group after leaving The Temptations and later released solo recordings.
Woodson says that in his final years, Harris established a cancer foundation that was still in its early stages when he became ill. Harris also became a strong advocate for prostate cancer screening.