His successor, Emmerson Mnangagwa, expressed his "utmost sadness", calling Mr Mugabe "an icon of liberation".
Robert Mugabe
Robert Mugabe, Zimbabwe's first post-independence leader, has died aged 95.
His family confirmed his death to the BBC. Mr Mugabe had been receiving treatment in a hospital in Singapore since April.
He was ousted in a military coup in 2017 after 37 years in power.
Mr Mugabe's early years were praised for broadening access to health and education for the black majority - but his later years were marked by rights abuses and corruption.
He won Zimbabwe's first election after it secured independence from the UK, becoming prime minister in 1980.
He abolished the office in 1987, becoming president instead.
His successor, Emmerson Mnangagwa, expressed his "utmost sadness", calling Mr Mugabe "an icon of liberation".
Mr Mnangagwa had been Mr Mugabe's deputy before replacing him.