The 85-year-old passed away peacefully at his Northumberland home in England on Friday
He had been suffering from a long-term illness.
He managed the Republic of Ireland to two World Cup tournaments and a European Championship.
Charlton's team inspired the nation at Euro '88, Italia '90 and USA '94.
Charlton, the older brother of Bobby Charlton, was part of England's World Cup-winning team in 1966.
He was a one-club man for Leeds United, making a record 773 appearances over a 23-year career as a player.
Widely hailed as one of the all-time great central defenders in the game, Leeds United said they were "deeply saddened" by the news.