Most recently, he was known for his love of Portuguese water dogs, which he shared with the Obamas when he gave the first family their dog, Bo.
The Kennedy family released this statement:
We've lost the irreplaceable center of our family and joyous light in our lives, but the inspiration of his faith, optimism, and perseverance will live on in our hearts forever. We thank everyone who gave him care and support over this last year, and everyone who stood with him for so many years in his tireless march for progress toward justice.
Coming just two weeks after his sister Eunice Kennedy Shriver's death, we wish the Kennedy family well during this extraordinarily hard time.