According to The Hollywood Reporter, Guillaume was battling prostate cancer and died in the comfort of the home he shared with his wife, Donna Brown Guillaume.
Other than Rafiki, which he continued to voice through multiple sequels, video games and even a television series, the stage and screen actor was also known for his role in 'Sports Night', where he suffered a stroke in 1999.
He received two Emmy Awards for portraying the acidic butler 'Benson' on a pair of ABC sitcoms.
Guillaume's Emmy for outstanding actor in a comedy in 1985 made him the only black man to win in that category. He also received the supporting comedy actor trophy in 1979, earning six nominations in all for playing Benson.
Guillaume also collected a Tony nomination for best actor in a musical in 1977 for playing Nathan Detroit in a revival of 'Guys and Dolls'.
Guillaume also appeared in the films 'Seems Like Old Times' (1980), 'Lean on Me' (1989), 'Death Warrant' (1990), 'The Meteor Man' (1993), 'First Kid' (1996), 'Spy Hard' (1996) and 'Big Fish' (2003). (ANI)