Jon Hendricks, a jazz singer and songwriter who became famous in the 1950s with the vocal trio Lambert, Hendricks & Ross by putting lyrics to well-known jazz instrumentals and turning them into vocal tours de force, died on Wednesday in Manhattan. He was 96.

His death, in a hospital, was confirmed by his daughter Aria Hendricks.

Although he was a gifted vocal improviser in his own right, Mr. Hendricks was best known for adding words to the improvisations of others.

He took pieces recorded by jazz ensembles like the Count Basie Orchestra and the Horace Silver Quintet and, using their titles as points of departure, created intricate narratives and tongue-in-cheek philosophical treatises that matched both the melody lines and the serpentine contours of the instrumental solos, note for note and inflection for inflection.

Mr. Hendricks did not invent this practice, known as vocalese — most jazz historians credit the singer Eddie Jefferson with that achievement — but he became its best-known and most prolific exponent, and he turned it into a group art.