He would manage the club for one year from 1989, a role he combined with the Wales national team job, before joining Jackson at Huddersfield Town in October 1997.
The pair kept a side that had failed to win any of its first 14 league games of the season in the second-tier Division One.
On social media, the club said: “Our collective thoughts are with Terry’s family and loved ones at this time.
“Once a Terrier, always a Terrier.”
Sheffield Wednesday, where Yorath managed between 2001 and 2002 said it was “extremely saddened” by news of his death.
In a tribute on X, former Bradford and Wednesday striker Dean Windass, who played under Yorath, described the Welshman as a “great man and a gentleman”.
“Thoughts go to his family RIP,” he added.
Yorath’s daughter, the Leeds-born Match of the Day presenter Gabby Logan, had to leave the programme during a live broadcast on Wednesday evening to attend what was described as a family emergency.