His daughter, Aria Hendricks, confirmed his death to the New York Times. She said he died yesterday at a New York City hospital.
Hendricks found fame in the 1950s and '60s teaming with Dave Lambert and Annie Ross. Their interracial trio became one of the most celebrated jazz vocal groups ever, and among the latter-day stars they influenced were Joni Mitchell and Manhattan Transfer.
The trio's first album, "Sing a Song of Basie," won acclaim for its use of vocalese, in which the voices mimic the instrumental parts.
Others experimented with vocalese before Hendricks, but he is widely regarded as the father of the spirited singing style for popularising it.
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In the 1980s, he collaborated with Manhattan Transfer on an album called "Vocalese" that won three Grammys, one for Hendricks himself.
He first teamed up with Lambert, a be-bop singer he admired, in the mid-1950s; the duo had a hit with "Four Brothers" and "Cloudburst." The two became a trio with the addition of Ross in 1957.
In a 1997 Associated Press interview, Hendricks recalled that Lambert said, "Let's do something artistic so that the Earth will at least know we were here. Why don't you lyricise 10 Count Basie things and we'll see if we can record an album."
After trying out by recording a large group of singers, Hendricks recalled, they decided to instead create the harmonies by multitracking as a trio with Ross.
After the group broke up in 1962, he pursued a solo career in London, worked as a jazz critic in San Francisco and released several solo albums. Ross also had success in a solo career; Lambert died in 1966.
Hendricks wrote all the lyrics for the album, to music by Ray Charles, Quincy Jones and others. It was nominated for a near-record 12 Grammys and won three.
In 1997, he was three featured singers to perform Wynton Marsalis' "Blood on the Fields" on a CD and on tour in the United States and Europe. That same year the three-hour work, which tells the history of blacks in America, won the Pulitzer Prize for music.
Mitchell, who rarely sings songs other than her own, recorded "Twisted" on her 1974 album, "Court and Spark," and "Centerpiece" on her 1975 "The Hissing of Summer Lawns." In a 1979 Down Beat magazine interview, she recalled hearing "Lambert, Hendricks and Ross: The Hottest New Sound in Jazz," as a teenager.
Hendricks got his start in amateur shows and at age 14 sang in Toledo nightclubs for two years with another future jazz great from his hometown, pianist Art Tatum, who gave him music lessons after school.
"I learned what I know from him," Hendricks told The Associated Press in a 2004 interview.
Yet, he was on his way to becoming a lawyer in 1950, singing in small clubs at night, when his wife asked if Hendricks could sing with be-bop pioneer and saxophonist Charlie "Bird" Parker at a concert in town.
Hendricks was born September 16, 1921, in Newark, Ohio, and grew up in Toledo, one of 15 children of a preacher who hoped Hendricks would follow him into the ministry.