Mayhew's family said in a statement on Thursday that he died at his home in Texas on Tuesday. No cause was given.
The 7ft 3in (220cm) Mayhew played the shaggy, towering wookie Chewbacca, sidekick to Han Solo and co-pilot of the Millennium Falcon, in the original Star Wars trilogy.
Mayhew went on to appear in 2005's Revenge of the Sith and shared the part in 2015's The Force Awakens with actor Joonas Suotamo, who later took over the role.
"He put his heart and soul into the role of Chewbacca and it showed in every frame of the films," the family statement said.
"But, to him, the Star Wars' family meant so much more to him than a role in a film."
Mayhew developed lifelong friendships with the other Star Wars actors and spent three decades travelling the world to meet his fans, the statement says.
Mayhew's family said he was active with various nonprofit groups and established the Peter Mayhew Foundation, which is devoted to alleviating disease, pain, suffering and the financial toll from traumatic events, its website says.
Born and raised in England, Mayhew had appeared in just one film and was working as a hospital orderly in London when George Lucas found him and cast him in 1977's Star Wars.
He is survived by his wife, Angie, and three children. A memorial service will be held on June 29.
