Docherty, who was known as ‘The Doc’, spent nine years as a player with Preston, and won 25 caps for Scotland.
He went on to manage 12 clubs – including Chelsea, Aston Villa and Derby – as well as a stint in charge of his country.
But he was best known for his five-year spell at Old Trafford, overseeing an FA Cup final win over Bob Paisley’s Liverpool in 1977.
Docherty died at his home in the north-west on Thursday.
A family spokesperson said in a statement: “Tommy passed away peacefully surrounded by his family at home.
“He was a much-loved husband, father and papa and will be terribly missed.
“We ask that our privacy be respected at this time. There will be no further comment.”
United added in a statement: “We are deeply saddened by the passing of Tommy Docherty, who led us to FA Cup victory in 1977 with a thrilling, attacking team in the best traditions of Manchester United.
“Everyone at the club sends sincere condolences to Tommy’s loved ones.”