John Cunliffe agents confirmed the news following a death notice and obituary in his local paper.
"Left his Ilkley home in a deluge of rain on Thursday, September 20, never to return," the obituary reads. "Even the skies wept for John the gifted creator of 'Postman Pat', 'Rosie and Jim' and author of many earlier published collections of poetry and picture story books for children.
"John's last poetry collection, significantly entitled 'Dare You Go', has now come to fruition for John has dared to go and he has gone."
Best known for Postman Pat and Rosie and Jim, Mr Cunliffe was the author of about 190 books for young children.
His famous creations were loved by generations of children, who grew up on the tales of Pat and his black and white cat, Jess.
He also appeared in Rosie and Jim as the pair's boat driver, who they referred to as "Fizzgog".