Born in Bradford, Appleyard did not make his first-class debut until he was 27, but took 200 wickets in his first season in 1951.
He made his Test debut in 1954 and had match figures of 7-123 in a victory over Pakistan at Trent Bridge.
Appleyard retired from playing in 1958 and went on to serve a two-year term as club president between 2006 and 2008.
During his career, he took 642 wickets at an average of 15.42 for Yorkshire, and 31 in nine Tests for England.
Appleyard was named as one of  Wisden's cricketers of the year in 1952 and appointed an MBE in 2007.
Former Yorkshire and England off-spinner Bob Appleyard MBE has died at the age of 90.