Mr. Daily was born in Trenton and attended Hamilton High School before leaving to join the Navy. He served for four years and then earned his GED and graduated from Trenton Junior College. He won a scholarship to the Art Center College of Design in Los Angeles, and in 1968 received a bachelor's degree in fine arts.
He started his art career as a freelance illustrator working in advertising on campaigns for companies including TWA. His work appeared in magazines such as Cosmopolitan and on book covers for publishers, including Dell and Doubleday.
But at the age of 50, Mr. Daily redirected his career. The advertising industry experienced a financial downturn, so Mr. Daily decided to focus on children's literature. Much of his work was for Philadelphia's Running Press, which publishes classic children's books.
Mr. Daily's work was shown at many exhibits, including the annual New York Society of Illustrators show, a children's book illustration exhibit.
He taught for two years at the University of the Arts and was the author of his own version of The Twelve Days of Christmas that he called The Twelve Days of Christmas Cats. It featured feline characters in a book based on the familiar song. Mr. Daily was working on a new edition of Mother Goose when he died.
Mr. Daily had been married to artist Renee Quintal Daily since 1974. In addition to his wife, he is survived by son Joseph Q.; daughter Susanna Q.; and a brother.