She died at her home in Winston-Salem, North Carolina, Brann said.
Her list of friends is as impressive as her illustrious career. Talk show queen Oprah Winfrey referred to her as "sister friend." She counted Martin Luther King Jr., with whom she worked during the Civil Rights movement, among her friends. King was assassinated on her birthday.
Angelou spoke at least six languages, and worked as a newspaper editor in Egypt and Ghana. During that time, she wrote "I Know Why the Caged Bird Sings," launching the first in a series of autobiographical books.
Angelou was also one of the first black women film directors. Her work on Broadway has been nominated for Tony Awards.
Before making it big, the 6-foot-tall wordsmith also worked as a cook and sang with a traveling road show. "Look where we've all come from ... coming out of darkness, moving toward the light," she has said. "It is a long journey, but a sweet one, bittersweet."