Joe Paterno, whose tenure as the most successful coach in major college football history ended abruptly in November amid allegations that he failed to respond forcefully enough to a sex abuse scandal involving a former assistant, died Sunday, his family said. He was 85.

The longtime Penn State head coach was diagnosed with what his family had called a treatable form of lung cancer shortly after the university's Board of Trustees voted to fire him.

He had been hospitalized in December after breaking his pelvis in a fall at his home and again in January for what his son called minor complications from his cancer treatments.

"It is with great sadness that we announce that Joe Paterno passed away earlier today," the family statement said. "His loss leaves a void in our lives that will never be filled."

Paterno died at 9:25 a.m. Sunday, surrounded by his family, State College's Mount Nittany Medical Center said in a statement.

Paterno, who was affectionately known as "JoePa" by generations of his players and football fans alike, was widely admired in football circles for what he called his "Grand Experiment" -- his expectation that big-time college football players could succeed on the field while upholding high academic and moral standards away from the gridiron.

Under his leadership, the Nittany Lions won two national championships, went undefeated five times and finished in the top 25 national rankings 35 times, according to his official Penn State biography.

At the same time, the program never fell under NCAA sanctions for major infractions while producing 13 Academic All-Americans since 2006. In 2009, according to the university, the Nittany Lions posted an 85% graduation rate.

"The acclaim for Joe Paterno has stemmed largely from the contrast between the high academic and moral standards he has tried to exemplify and the shameless conduct that often embarrasses and dishonors the college sport he cherishes," author Michael O'Brien wrote in a 1999 biography of Paterno, "No Ordinary Joe."

Penn State's board of trustees and President Rodney Erickson said in a statement, "We grieve for the loss of Joe Paterno, a great man who made us a greater university. His dedication to ensuring his players were successful both on the field and in life is legendary and his commitment to education is unmatched in college football. His life, work and generosity will be remembered always."

The university is "considering appropriate ways" to honor Paterno's legacy, the statement said, and its athletics department is "consulting with members of the Penn State community on the nature and timing of the gathering."

Paterno was born in 1926 in Brooklyn to second-generation Italian immigrants, according to O'Brien's book.

He attended Brown University, where he played quarterback and cornerback, according to another Penn State biography.

When Paterno decided to forgo a career in law and make coaching his career, his family said Sunday, his father Angelo had one command: "Make an impact."

"As the last 61 years have shown, Joe made an incredible impact. That impact has been felt and appreciated by our family in the form of thousands of letters and well wishes along with countless acts of kindness from people whose lives he touched."

He coached at Penn State as an assistant from 1950 to 1965 and became head coach in 1966.

Decked out in his soon-to-become trademark thick glasses, white socks and sneakers, Paterno quickly became a memorable fixture on the football field, leading the Nittany Lions to undefeated seasons in 1968, 1969 and again in 1973 and the first national championship of his tenure in 1982.

Named National Coach of the Year five times, Paterno was added to the College Football Hall of Fame in 2006, but his induction was delayed until 2007 because of injuries he suffered in a sideline collision.

He became the winningest coach in major college football history in 2011 with 409 victories.

Paterno "died as he lived," the family statement said Sunday. "He fought hard until the end, stayed positive, thought only of others and constantly reminded everyone of how blessed his life had been. His ambitions were far reaching, but he never believed he had to leave this Happy Valley to achieve them. He was a man devoted to his family, his university, his players and his community."