He was 85.
Antulay was the state's Chief Minister from June 1980 to January 1982 and was Minority Affairs Minister in the Manmohan Singh-led UPA-I government.
The Congress veteran, who was suffering from kidney ailment, passed away at a private hospital here this morning, family sources said. The funeral will be held in his native village in Raigad district of coastal Konkan tomorrow.
No stranger to controversies, Antulay was forced to quit as chief minister by the then Prime Minister Indira Gandhi after Parliament was paralysed for days over the 'Cements Scandal' in the state.
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A controversial figure with a reputation of being something of a maverick politician, Antulay had sparked outrage after the 26/11 Mumbai terror attacks by demanding a probe into the killing of Mumbai Anti-Terrorism Squad chief Hemant Karkare, alleging a conspiracy by Hindu radicals connected to the Malegaon blast case.
The veteran Congressman and lawyer remained loyal to Indira Gandhi during the Emergency and its aftermath that when the party split in 1978, the new outfit under Gandhi was born at his residence.
There was speculation then in state political circles that Indira Gandhi chose a Muslim as the Chief Minister to snub Marathas, the dominant political force in Maharashtra.
After becoming the chief minister, Antulay was embroiled in the "Cement scandal". He was forced to step down in January 1982 and was exonerated only after a 12-year-long legal journey that ended in the Supreme Court.
Meanwhile, the state government today declared a three-day mourning as a mark of respect to the departed leader.