Ann Morgan Guilbert, Millie on 'Dick Van Dyke Show,' Dies at 87

Guilbert died of cancer on Tuesday in Los Angeles.

NEW YORK (AP) — Ann Morgan Guilbert, beloved as the next-door neighbor on The Dick Van Dyke Show and seen recently on the CBS comedy Life in Pieces, has died. She was 87.

Guilbert died of cancer on Tuesday in Los Angeles, her daughter Nora Eckstein said.

Recent TV appearances included a starring role on the hospital comedy Getting On and a guest spot on Grey's Anatomy. Guilbert was a regular as feisty Grandma Yetta on the 1990s sitcom The Nanny, and in the early 1960s, played Millie Helper, Laura Petrie's perky pal, on the acclaimed Van Dyke series.

The actress starred in Nicole Holofcener's 2010 Sundance Film Festival selection, Please Give.

Guilbert had extensive theater credits, including the 2005 Broadway play A Naked Girl on the Appian Way, and productions of The Matchmaker, Arsenic and Old Lace, Waiting for Godot, To Kill a Mockingbird and Harvey.

A native of Minneapolis, Guilbert graduated from Stanford University's Department of Speech and Drama, where she met the late producer-actor George Eckstein. They married and had two daughters, actress Hallie Todd (Lizzie McGuire) and Nora Eckstein, a writer, actress and acting teacher.

After her 1966 divorce, Guilbert married actor Guy Raymond, who died in 1997.

She is survived by her two daughters.