Oskar Groening had previously been sentenced for his role in some 300,000 murders during the Holocaust.
Groening was only the third person to be convicted as an accessory to Nazi murders.
The Hannover public prosecutor's office said it had been informed of Groening's death by his lawyer.
Oskar Groening at his trial.
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Groening, a former Nazi SS officer, did not kill anyone himself while working at the camp in Nazi-occupied Poland, but the lower court ruled he helped support those responsible for mass murder through various actions, including by sorting bank notes seized from trainloads of arriving Jews.
That approach changed radically after a legal precedent set by the 2011 conviction of John Demjanjuk, who was found guilty by a Munich court as an accessory to the murder of more than 28,000 Jews while he was a guard at the Sobibor camp in occupied Poland.
But while he admitted witnessing individual atrocities, he did not acknowledge participating in any crimes.
Prisoners were transported by train to the Auschwitz death camp.
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Efraim Zuroff, the head Nazi hunter for the Simon Wiesenthal Center, said it was unfortunate that Groening's conviction didn't result in "at least symbolic justice" for the victims of Auschwitz.
"The screams became louder and more desperate but after a short time they became quieter again", Groening said.
"The essential, nearly frightening, point about Oskar Groening is that he is one of the least exceptional human beings you are ever likely to meet", said author Laurence Rees, who interviewed Groening in 2005.
"No one should have taken part in Auschwitz", he said. He was first noticed when doing interviews in 2005, admitting his wrongdoings in an attempt to persuade Holocaust deniers to accept the truth, according to Reuters.
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At his trial he said he was "morally guilty" for the work he carried out.