Legendary Cowboys Scout

Legendary Dallas Cowboys scout Gil Brandt -- who helped America's Team draft Troy Aikman and Roger Staubach -- has died ... Jerry Jones announced.

According to the Pro Football Hall of Fame ... the former talent evaluator passed on Thursday morning.

He was 91 years old.

Getty

"We are so deeply saddened by the passing of Gil Brandt – a true icon and pioneer of our sport," Jones said in a statement. "Gil was at the very core of the early success of the Dallas Cowboys and continued to serve as a great ambassador for the organization for decades beyond that."

Brandt joined the Cowboys in their inaugural season in 1960 -- and helped the team select its first-ever draft pick ... Hall of Famer Bob…