Ann Morgan Guilbert, a character actress best known for playing the next-door neighbor Millie Helper on “The Dick Van Dyke Show,” died Tuesday of cancer in Los Angeles. She was 87.

Her daughter, Nora Eckstein, confirmed the death to the Associated Press.

Although she appeared on dozens of shows over her four-decades-long career, Guilbert’s defining turn began in 1961 on “The Dick Van Dyke Show,” and lasted for 61 episodes. Her character, Millie, was best friends with Mary Tyler Moore‘s character, Laura, and appeared in all five seasons of the sitcom.

Recently, Guilbert had several guest TV appearances, including two episodes of the CBS comedy “Life in Pieces” and an episode of “Grey’s Anatomy.” She also appeared on all three seasons of HBO’s “Getting On.”

In the ’90s, Guilbert was a regular on the “The Nanny,” playing the forgetful grandmother, Yetta Rosenberg. Her other TV credits include episodes of “The New Andy Griffith Show,” “Seinfeld,” “Curb Your Enthusiasm” and “Law & Order: Special Victims Unit.”

Not only was she a television star, but Guilbert also dazzled on the stage. In 2005, she acted in the Broadway play “The Naked Girl on the Appian Way,” and also appeared in productions of “The Matchmaker,” ”Arsenic and Old Lace” and “Harvey.”

Guilbert leaves behind two daughters. Her second husband, Guy Raymond, died in 1997.

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