Richard Simmons -- the legendary fitness guru -- has died at 76 ... TMZ has learned.
Law enforcement sources tell TMZ ... police and fire responded to a call from his housekeeper just before 10 AM Saturday and pronounced him dead at the scene. We're told no foul play is suspected at this time.
RS wrote a message to fans thanking them for all their birthday wishes in a Facebook message posted less than 24 hours ago.
