Ure's portrayal of Granny Smith - who gained superpowers after being struck by a magic ray - won her legions of fans across the globe.
Her death was confirmed by her niece, Kate McNeill.
Ure was born in Milton of Campsie, East Dunbartonshire, on 12 March 1926.
As an actress she starred as Desdemona in a 1951 stage production of Othello, directed by Hollywood legend Orson Welles. She also re-dubbed Suzanne Cloutier's performance in Welles' film adaptation.
Ure appeared in other television shows, including Casualty, Midsomer Murders, The Crow Road, The 10th Kingdom, and T-Bag and the Pearls of Wisdom.
However, it was her role in Super Gran that elevated her to cult status.
Keep up with all the latest news from the UK and around the world by following Sky News
The show, based on a series of books written by Forrest Wilson, saw Ure's character use her powers to protect the residents of Chiselton from a series of villains, including the scheming Roderick 'Scunner' Campbell and his gang.
Many guest stars appeared on the programme, including George Best, Spike Milligan, Eric Bristow, Roy Kinnear and comedian Billy Connolly, who also sang the theme song.
It also won a prestigious International Emmy Award in the children and young category.
