Collins, who won the Footballer of the Year award in 1965, is widely regarded as the on-field catalyst in the transformation of Leeds in the 1960s during their glory years under Don Revie.
Friend and former team-mate Eddie Gray said: "In my opinion Bobby Collins was probably the most influential player in the history of Leeds United.
"He will be sadly missed by all who knew him and played with him."
Collins was signed for Leeds by Revie from Everton for B£25,000 and captained the side to the old Division Two title in 1964.
The following season in the top flight the former Scotland international was the driving force as Leeds finished runners-up to champions Manchester United on goal difference and were beaten 2-1 by Liverpool in the FA Cup final after extra-time.
Collins made a total of 167 appearances for Leeds between 1962-67 and scored 26 goals.
His playing career spanned over two decades and included spells with Celtic, Bury, Greenock Morton, Oldham, and Shamrock Rovers, while he went on to manage Huddersfield, Hull and Barnsley. He also had two spells as coach at Leeds.