Joan's daughter Melissa, 46, said in a statement: "It is with great sadness that I announce the death of my mother, Joan Rivers. She passed peacefully at 1:17pm surrounded by family and close friends.
"My son and I would like to thank the doctors, nurses, and staff of Mount Sinai Hospital for the amazing care they provided for my mother."
She added: "My mother’s greatest joy in life was to make people laugh. Although that is difficult to do right now, I know her final wish would be that we return to laughing soon."
The comedienne was rushed to hospital last Thursday after she suffered a cardiac arrest and stopped breathing while undergoing a routine operation on her vocal cords at the private Yorkville Endoscopy clinic. Joan was put on life support after being placed in a medically-induced coma.
Joan will be laid to rest at Temple Emanu-El in Manhattan on Sunday, Us Weekly has confirmed.
Elizabeth Fezrine, a spokeswoman for the congregation, said details about the service - including the time and whether the public will be allowed to attend - are not yet known.
Fellow Fashion Police co-star, Kelly Osbourne, is "completely heartbroken" over the death of Joan. The 29-year-old beauty has paid tribute to Joan in a heartfelt message.
She wrote on her official Facebook page: "I'm completely heartbroken by the loss of my beloved Joan. Not only was she my boss, she was and will always be my teacher, therapist, closest friend, inspiration and the only grandmother I ever knew.
"She was family and I will never forget her. Laughter will be difficult for a while but when I'm sad, lonely or upset all I will have to do is think of Joan and a smile will cross my face. Laughter is what she gave us and laughter is what she would want us to do in remembrance of her."
Joan Rivers: “At my funeral, I want Meryl Streep crying in five different accents” #RIPJoanRivers— Gareth Edwards (@GarethEdwardsSA) September 5, 2014
Fashion Police will never be the same again ... #RIPJoanRivers— Senira (@Miss_SenG) September 5, 2014
Still can't believe it. One of my biggest idol. My favorite comedian. I will miss you so much. You made me so happy and LMAO #ripjoanrivers— Ivan (@ivan1232) September 5, 2014
Joan Rivers will always be a pioneer. She paved the way for a lot of comedians. I’m very sad she’s gone. pic.twitter.com/i1uE9fyHMh— Ellen DeGeneres (@TheEllenShow) September 4, 2014
Joan Rivers wouldn't want saccharine tributes tonight. She'd want people taking the piss.— Piers Morgan (@piersmorgan) September 4, 2014
.@Joan_Rivers was a dear & wonderful friend who I've known for 45yrs. Great guest, pal, comedian & mother. We will never see her likes again— Larry King (@kingsthings) September 4, 2014
My friend Joan Rivers has passed away once again to quote Billy Crystal... There are no words. Bon Voyage Joan 😢— Whoopi Goldberg (@WhoopiGoldberg) September 4, 2014
Oh, Joan. Thank you for being so kind to me & making me laugh until tears in those moments I got spend with you. Rest in peace. 😔— Jordin Sparks (@JordinSparks) September 4, 2014