Roberts was brought to the club from Southport by Liam Watson in the summer of 2013, before the management team achieved promotion back to step one as Conference North champions.
The physio departed the New Bucks Head in the following 2014/15 campaign after Steve Kittrick replaced Watson.
Roberts has most recently worked with Liverpool outfit Marine, whom he joined in 2017 under Tommy Lawson. He also stood in for games this season to help out his former club.
AFC Telford tweeted: "Our thoughts are with Chris's family and friends at this difficult time."
Southport's former players association tweeted: "Our thoughts are with the family and friends of former club physio Chris Roberts whom we have learned has passed away from coronavirus."