He died after battling ill health, his family confirmed to the BBC. Mr Mugabe had been in hospital in Singapore since April.
He was ousted in a military coup in November 2017, ending three decades in power.
He won Zimbabwe’s first election after independence, becoming prime minister in 1980. He abolished the office in 1987, becoming president instead.
Mugabe’s early years were praised for broadening access to health and education for the black majority. But his controversial land reform programme sparked an economic collapse and his latter years were marked by rights abuses and corruption.
Robert Mugabe – key dates
Later trained as a teacher
1964: Imprisoned by Rhodesian government
1980: Wins post-independence elections
1996: Marries Grace Marufu
2000: Loses referendum, pro-Mugabe militias invade white-owned farms and attack opposition supporters
2008: Comes second in first round of elections to Tsvangirai who pulls out of run-off amid nationwide attacks on his supporters
2009: Amid economic collapse, swears in Tsvangirai as prime minister, who served in uneasy government of national unity for four years
2017: Sacks long-time ally Vice-President Emmerson Mnangagwa, paving the way for his wife Grace to succeed him
November 2017: Army intervenes and forces him to step down