Auberjonois began his acting career on the stage and performed in numerous Broadway productions. He earned a Tony Award in 1970 for his role in the musical Coco, before nabbing three additional nominations.
The actor also made a name for himself on TV, enjoying a prolific career on the small screen. His first big role came in 1980 playing Clayton Endicott, III on the sitcom Benson for 173 episodes.
His next big TV role came in 1993, starring as Odo on the sci-fi series Star Trek: Deep Space Nine for all seven seasons of the show's run. He later took on the role of Paul Lewiston, a managing partner at the law firm of Crane, Poole & Schmidt on Boston Legal.
He was also an accomplished voice actor, lending his vocal talents to numerous animated films and TV shows. Most notably, Auberjonois voiced the sinister Chef Louis in Disney's The Little Mermaid. His voice also appeared in numerous video games and he narrated several audio books.
Auberjonois is survived by his wife of 56 years, Judith, their daughter Tessa and son Rèmy-Luc, and three grandchildren.