He was captain of England for 18 Tests and 29 ODIs before his retirement in 1984.
"We are heartbroken to lose our beloved Bob, who was an incredible husband, father, brother and grandfather. He made a huge impact on everybody he knew and we will miss him terribly," his family said in a statement.
Willis played for Surrey in his first two years of professional cricket and spent the rest of his career playing for Warwickshire. He finished his first class career with 899 wickets from 308 first-class matches at an average of 24.99.
He had needed surgery on both knees in 1975, four years after he had made his debut and still went on to become one of the most succesfull fast bowlers of all time.
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