Jack Klugman, the prolific, craggy-faced character actor and regular guy who was loved by millions as the messy one in TV’s The Odd Couple and the crime-fighting coroner in Quincy, M.E., died Monday, a son said. He was 90.

Klugman, who lost his voice to throat cancer in the 1980s and trained himself to speak again, died with his wife at his side.

“He had a great life and he enjoyed every moment of it and he would encourage others to do the same,” son Adam Klugman said.

Adam Klugman said he was spending Christmas with his brother, David,...