Best known as a singer and impressionist, he regularly appeared on TV shows and toured overseas.
Les Dennis tweeted he was "a supreme talent and a nice man". Cold Feet actor John Thomson said he was a "great entertainer".
A statement on the Hull-born performer's website said he died in the arms of his husband Jamie.
It said: "Joe died in his bedroom, laying in the arms of his devoted husband of 21 years Jamie, with his rosary beads clutched tight to his chest. He leaves behind sister Ann and brother John."