Havens' booking agent, The Roots Agency, confirmed the musician's death on its website Monday.
His family says in a statement that Havens died of a heart attack.
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Havens not only performed at the 1969 Woodstock Festival, he returned to the site during the 40th anniversary in 2009.
The performer was born in Brooklyn. He was known for his crafty guitar work and cover songs.
Havens said in a 2009 interview with The Associated Press about Woodstock: "Everything in my life, and so many others', is attached to that train."
A public memorial will be planned for a later date.
The Associated Press contributed to this report.