The charismatic politician, renowned for his love of beer and cricket, served from 1983 to 1991 and is credited with modernising the economy.
He was the centre-left Labor Party's longest-serving PM, who achieved the highest approval ratings of any leader.
He died "peacefully at home", his wife said in a statement.
"Today we lost Bob Hawke, a great Australian - many would say the greatest Australian of the post-war era," Blanche d'Alpuget added.
