The Clinton family said Rodham died shortly after midnight in Washington, D.C., surrounded by her loved ones.
Hillary Clinton earlier canceled her trips to London and Turkey, citing that her mother was sick. Details of her mother's illness were not disclosed.
Rodham made occasional campaign appearances with her daughter during her 2008 presidential campaign. She also went on several trips with the first family during President Bill Clinton's time in office.
The Clinton family released the following statement:
"Her story was a quintessentially American one, largely because she wrote it herself. She overcame abandonment and hardship as a young girl to become the remarkable woman she was - a warm, generous and strong woman; an intellectual; a woman who told a great joke and always got the joke; an extraordinary friend and, most of all, a loving wife, mother and grandmother."
The family will hold a private celebration for family and friends. In lieu of flowers, the family asked that donations be made in Rodham's memory to George Washington Hospital and to the Heifer Project.