Batman creator Bob Kane hired Robinson when he was just 17-years-old in 1939 to work as an illustrator and writer.
Robinson reportedly not only came up with the Joker but also helped create other characters like Robin and Two-Face.
The New Jersey-born comic book legend also worked for the News as a cartoonist and launched political satire strip in the 1970s called "Still Life."
The artist also fought for the rights of his fellow cartoonists, helping the creators of Superman when they were in a legal battle with DC Comics over the rights to the famous character.
"Jerry brought a realism to comics — and a sense of humor," his editor Charles Kochman told the Associated Press.
He is survived by his wife, a son and daughter and two grandchildren.