Mr Mandela led South Africa's transition from
white-minority rule in the 1990s, after 27 years
in prison for his political activities.
He had been receiving intensive medical care at
home for a lung infection after spending three
months in hospital.
Announcing the news on South African national
TV, President Jacob Zuma said Mr Mandela was
at peace.
"Our nation has lost its greatest son," Mr Zuma
said.
"Although we knew that this day would come,
nothing can diminish our sense of a profound
and enduring loss."
Mr Zuma said Mr Mandela - who is known
affectionately by his clan name, Madiba - had
died shortly before 21:00 local time (19:00
GMT). He said he would receive a full state
funeral, and flags would be flown at half-mast.
Crowds have gathered outside the house where
Mr Mandela died, some flying South African
flags and wearing the shirts of the governing
African National Congress, which Mr Mandela
once led.
The Nobel Peace Prize laureate was one of the
world's most revered statesmen after preaching
reconciliation despite being imprisoned for 27
years.
He had rarely been seen in public since officially
retiring in 2004. He made his last public
appearance in 2010, at the football World Cup
in South Africa.
His fellow campaigner against apartheid,
Archbishop Desmond Tutu, said he was "not
only an amazing gift to humankind, he made
South Africans and Africans feel good about
being who we are. He made us walk tall. God be
praised."
BBC correspondents say Mr Mandela's body will
be moved to a mortuary in the capital, Pretoria,
and the funeral is likely to take place next
Saturday.
