He created the famous stories - about the adventures of Gaulish warriors fighting the Roman Empire - with his friend René Goscinny in 1959.
As well as illustrating the series, Urderzo took over the writing following Goscinny's death in 1977.
The books have sold 370 million copies worldwide, in dozens of languages, and several stories have been turned into cartoons and feature films.
The series continues to this day under new ownership, with the most recent book, Asterix and the Chieftain's Daughter, released last October.
"Albert Uderzo died in his sleep at his home in Neuilly, after a heart attack that was not linked to the coronavirus," his son-in-law Bernard de Choisy told the AFP news agency.