The actor had been suffering from ailments for the past few years. He had undergone a bypass surgery and was also hospitalised for a chest infection in 2014.
Kapoor hit the spotlight at the age of four, acting in plays directed and produced by his father. He started acting in films as a child artiste in the late '40s.
His best-known performances as a child actor were in Aag (1948) and Awaara (1951), where he played the younger version of the character played by Raj Kapoor. He also worked as assistant director in the '50s.
He made his debut as a leading man in the 1961 film Dharmputra and went on to appear in more than 116 films during the '70s and until the mid-'80s. A three-time national award winner, he was also honoured with Padma Bhushan in 2011 and received the prestigious Dada Saheb Phalke award in 2015.