"Dara Singh passed away peacefully at 7.30 a.m. this (Thursday) morning," said Ram Narain, COO, Kokilaben Dhirubhai Ambani Hospital, where the actor was being treated before he was shifted to his Juhu home late Wednesday.
"Angel now gone to shine like a star up above," the actor's son, Vindu Dara Singh, texted after his father's death.
Dara Singh had been undergoing dialysis at the hospital.
It was his family's wish that he should be home in the last stages of his life, a hospital official had said Wednesday.
He is survived by his wife and six children - three sons and three daughters. One of his sons, Vindu Dara Singh, is a known name in showbiz.
The veteran actor was rushed to Kokilaben Dhirubhai Ambani Hospital Saturday by his family members following a cardiac problem. He had been in a critical condition since then. Two days later, he was put on dialysis after his kidneys stopped functioning.
Dara Singh, who had won the title of "Rustam-e-Hind" for his wrestling prowess, appeared in various films and TV serials.
He is best known for his portrayal of Hanuman in Ramanand Sagar's 'Ramayan' and in B.R. Chopra's 'Mahabharat'.
He had appeared in films like 'Watan Se Door', 'Daada', 'Rustom-E-Baghdad', 'Sher Dil', 'Sikandar E Azam', 'Raaka', 'Mera Naam Joker' and 'Dharam Karam'. He was last seen in the 2007 release 'Jab We Met'.
Apart from acting, Dara Singh also tried his hand at direction.