Maureen McCormick, who played Henderson's on-screen daughter Marcia Brady, tweeted, "Florence Henderson was a dear friend for so very many years & in my [heart] forever. Love & hugs to her family. I'll miss u dearly #RIPFlorence."
McCormick followed up with a tweet of the two of them, writing, "You are in my heart forever Florence."
IN MEMORIAM: Celebrities and notable figures who have recently passed away
"The Brady Bunch" aired from 1969 to 1974 on ABC, but it returned in the form of various specials, including "The Brady Bunch Hour" in 1977, "The Brady Brides" in 1981 and "The Bradys" in 1990.
Born in Dale, Indiana, Henderson kicked off her show business career with roles on Broadway. Also early on in her carreer she starred in the national tour of Rodgers & Hammerstein's "Oklahoma!."
One of her earliest TV credits was when she appeared on "The Tonight Show" as its first female guest host.
But it wasn't until 1969 when she landed the role of Carol Brady that she became a household name.
Henderson is survived by her four children -- Barbara, Lizzie, Joseph, and Robert -- with her first husband Ira Bernstein, to whom she was married from 1955 to 1985. She married hypnotherapist John Kappas in 1987 after seeking treatment for depression, and inspired by him, she became a licensed hypnotherapist. He died in 2002.
ABC News' Matthew Fuhrman contributed to this report.