She is survived by her mother, Claire Franklin; and stepchildren Jed Minoff and Julie Minoff, the Times said.
Her husband, television and film producer Marvin Minoff, whom she married in 1980, died in 2009.
"My heart is breaking. Bonnie has always been one of the most important women in my life and was a second mother to me," Bertinelli said in a statement to People.com Friday.
"The years on 'One Day at a Time' were some of the happiest of my life, and along with [Pat Harrington Jr.] and [Mackenzie Phillips] we were a family in every way," Bertinelli said. "She taught me how to navigate this business and life itself with grace and humor, and to always be true to yourself. I will miss her terribly."