NEW YORK — Ann Morgan Guilbert, beloved as next-door neighbor Millie on “The Dick Van Dyke Show” and seen recently on CBS’ comedy “Life in Pieces,” has died.

Guilbert died of cancer in Los Angeles on Tuesday, her daughter Nora Eckstein said. She was 87.

Ann Morgan Guilbert in a scene from the CBS series "Life In Pieces." Guilbert played the recurring role of Millie, the next-door neighbor on "The Dick Van Dyke Show." CBS via AP

Recent TV appearances included a starring role on the hospital comedy “Getting On” and a guest shot on “Grey’s Anatomy.” She 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.

She 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.”