The lyricist passed away on Saturday morning in LA after suffering complications from a stroke, reported Los Angeles Times.
Along with Bacharach, David wrote classic hits for a variety of artists from the 1960s and beyond including The Beatles, Barbra Streisand, Frank Sinatra, Neil Diamond and Dionne Warwick.
After serving in an entertainment unit during World War II, he wrote lyrics for several composers before joining Bacharach. The pair scored their first big hit with 'Magic Moments'.
'Raindrops Keep Fallin' on My Head' from "Butch Cassidy and the Sundance Kid" won an Oscar and 'Don't Make Me Over', '(They Long to Be) Close to You' and 'Walk On By' have been inducted into the Grammy Hall of Fame.
Earlier this year, David and Bacharach received the Library of Congress Gershwin prize for popular song during a White House tribute concert attended by President Barack Obama.
David was married to wife Eunice David for 25 years. He had two sons, Jim and Craig, from a previous marriage to Anne Rauchman.