Glass is also celebrated for his role as the dapper Detective Ron Harris on the popular '70s police sitcom "Barney Miller."
He played the sarcastic and intellectual detective opposite Hal Linden and Abe Vigoda. Glass earned his first and only Emmy nomination for the role in 1982.
More recently, Glass appeared on "Agents of SHIELD," "CSI" and "Major Crimes."
Fellow "Firefly" actors and creator Joss Whedon paid tribute online to their beloved co-star's passing.
"Ron Glass was one of the greatest actors to work with," "Firefly" co-star Alan Tudyk tweeted today. "His laugh was beyond infectious and his generosity was ever present."
"Ron Glass was also a sassy smart ass and I prize that very much," Tudyk continued. "A leaf on the wind."
"This is me acting like an idiot just so I could hear Ron Glass laugh," "Firefly" co-star Jewel Staite posted on Instagram. "He was the kind of person."