Ensa Cosby died from a kidney disease in Massachusetts on February 23, according to spokesman Andrew Wyatt.
In 2017, Ensa Cosby defended her father when he went on trial over allegations he drugged and assaulted a woman in 2004.
The judge declared a mistrial and a new trial will take place on April 2. Bill Cosby denies the allegations.
Ensa Cosby, who once appeared in an episode of her father’s program The Cosby Show, is reported to have had health issues in the past.
According to TMZ, which first reported her death, Ensa Cosby had been in line for a kidney transplant.
Ensa Cosby has three surviving sisters – Evin, Errin and Erika. Her brother, Ennis, was murdered in 1997 during a failed robbery attempt as he changed his car tire.
In a statement in May 2017, Ensa Cosby, a mother-of-one, said there was a racist motivation for her father’s prosecution.
She said: “My father has been publicly lynched in the media.”
Bill Cosby, 80, was accused of drugging and assaulting Andrea Constand in 2004. His lawyers had argued the act was consensual.
Dozens of women say Bill Cosby assaulted them, but statute of limitation rules mean he was allowed to be tried for Andrea Constand’s allegation only.
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