Ruth Westheimer, the superstar sex therapist known to millions as “Dr. Ruth”, has died aged 96.

Westheimer died Friday at her home in Manhattan, her publicist Pierre Lehu confirmed. No cause of death was announced.

For more than four decades, the beloved doc dished advice on orgasms, masturbation and fantasies, helping to de-stigmatize sex for generations of Americans.

Well into her nineties, the beloved therapist was still touting the benefits of making love.

“Understand, this country of ours is more sexually active than before,” she told The Post’s Cindy Adams in 2021. “Sex is no sin.”

Just last year, Westheimer was appointed New York state’s honorary ambassador to loneliness by Gov. Kathy Hochul.

“Dr. Ruth led an extraordinary life,” Gov. Hochul said in a statement on Saturday. “She was brave, funny, candid and brilliant.”

“As New York’s first-ever Ambassador to Loneliness, we worked together to spotlight a mental health crisis impacting our seniors,” she added. “We will miss her greatly.”

Westheimer, who was born in Germany in 1928, survived the Holocaust and relocated to the United States in 1956.

She spent decades working in academia before coming to public prominence in 1980, with the segment “Sexually Speaking” on New York’s WYNY radio network.

The pint-sized star — who was already aged in 50s — quickly became famed for her frank and often funny advice on intimacy.

Once, when asked about how to perform oral sex on a man, Westheimer memorably responded: “Make believe it’s an ice cream cone!”

The doctor’s tips were always delivered with cheer, and her cheeky catchphrase “Get some!” became beloved by listeners.

Additionally, she promoted the use of contraceptives and educated fans on the risks and dangers of sexually transmitted diseases.

Amid her radio success, Westheimer turned to television, hosting “The Dr. Ruth Show,” which began in 1983.

In the ensuing decades, she hosted a slew of other TV programs and penned more than 45 books, dozens of which were best-sellers.

She is survived by her two children and four grandchildren.

Born Karola Ruth Siegel, Westheimer spent her early life in Germany as the only child of middle-class Jews.

At the age of 10, she witnessed her father taken by Nazis to the Dachau concentration camp. Her terrified mother subsequently sent Westheimer to Switzerland on the Kindertransport — a rescue train transporting Jewish children out of the country.

Both of Westheimer’s parents perished in the Holocaust, and the youngster spent years in a Swiss orphanage. She immigrated to British-controlled Mandatory Palestine (now Israel) at the end of World War II.

Westheimer soon joined the Haganah Jewish Zionist paramilitary organization, later known as the Israel Defense Force. On her 20th birthday, she was seriously wounded by an exploding shell during a mortar fire attack on Jerusalem.

After months recuperating in hospital, Westheimer moved to Paris where she studied psychology at the Sorbonne.

Then, at the age of 28, she immigrated to New York City, where she obtained a master’s degree at The New School, working as a maid to pay tuition. She later earned a doctorate from Columbia University.

After years as a teacher and a private practice sex therapist, Westheimer began her media career at the age of 51.

Her age proved an advantage, with her conservative appearance a contrast to the often racy advice she dolled out to her fans.

In addition to her radio show, she hosted several TV programs on Lifetime, including “Good Sex! With Dr. Ruth Westheimer.” She ended each show urging her viewers to “have good sex.”

“Dr. Ruth” had became a household name by the mid-1980s, with appearances on late-night TV shows hosted by Johnny Carson, Joan Rivers and David Letterman.

She made the cover of TV Guide in 1988.

Into the 1990s and 2000s, Westheimer continued to be a media fixture, releasing dozens of books, including “Conquering the Rapids of Life: Making the Most of Midlife Opportunities.”

She additionally hosted a series of instructional videos for Playboy, entitled “Making Love,” and appeared in TV commercials for sodas, cars and mouthwash.

Westheimer’s own personal life flourished alongside her professional pursuits.

After two brief unions, she married Manfred Westheimer in 1961.

The couple, who raised two children together, were married for 36 years until Manfred’s death in 1997.

Westheimer remained largely unaffected by her celebrity status, still residing in the same Washington Heights apartment where she had lived with her husband long before she kickstarted her wildly successful media career.