Delgado played Fix-It-Shop owner Luis Rodriguez for 45 years, having joined the cast in 1971 for series three.
Having taken a brief haitus from the show in 1988, he returned in 2016, where he remained until 2016.
His character Luis married the show's other key Latin star Maria Figuero. She was played by Sonia Manzano.
After his departure, Delgado did appear at public events, returning for Sesame Street's 50th anniversary in 2019.
Sesame Workshop who are the non-profit educational organisation behind Sesame Street paid tribute to Delgado with an official statement.
"Sesame Workshop mourns the passing of Emilio Delgado, known the world over for his role as Luis on Sesame Street", they said. "A beloved member of the Sesame family for over 50 years, his warmth and humour invited children to share a friendship that has echoed through generations".
"At the forefront of representation, Emilio proudly laid claim to the ‘record for the longest-running role for a Mexican-American in a TV series’. We are so grateful he shared his talents with us and with the world".
