Her death from cancer was announced on Saturday by Kidada and Rashida Jones, her daughters from a marriage to famed music producer Quincy Jones, reports latimes.com.
"She made her journey peacefully with her daughters and nieces by her side," Lipton's daughters said. "We feel so lucky for every moment we spent with her."
Born in New York on August 30, 1946, Lipton began modelling at age 15. At age 19, she made her television debut on the sitcom "The John Forsythe Show", going on to make appearances on series as "Bewitched", "The Alfred Hitchcock Hour" and "The Virginian".
At 21, Lipton rocketed to fame in 1968 as the street-smart flower child Julie Barnes, one of the undercover "hippie cops" in Los Angeles on the crime series "The Mod Squad".
It was one of the