Over the course of a career spanning at least five decades, Gaynes appeared in numerous television shows and at least 30 movies, according to the Internet Movie Database. He retired in 2003 after appearing in "Just Married," starring Ashton Kutcher and Brittany Murphy.

"The last couple times I got in touch with him, even in his 90s, he was always happy to take the call and consider something," Gaynes' longtime agent, Jonathan Howard, told The Hollywood Reporter. "He was really one of the true gentlemen in this business and was working steadily for 50 years or more. A sad, sad loss. But he had a really long, great life."

Gaynes got his start on Broadway in 1950, according to the Internet Broadway Database. Also a talented singer, Gaynes appeared in musicals and multiple plays.

In perhaps his most recognizable role, Gaynes played the eccentric Commandant Eric Lassard, head of the Metropolitan Police Academy in seven "Police Academy" movies.

In "Punky Brewster," Gaynes played cranky widower and building manager Henry Warnimont. His character's growing relationship with the series' main character, the orphan Punky Brewster, provided much of the series' warmth.

He is survived by his wife, one daughter, one granddaughter and two great granddaughters, Variety Magazine reported.