Chaudhary (84) was being treated at a private hospital here since August 31 for chest infection and died at around 0030 hrs, family sources said today.
The mortal remains of Chaudhary were consigned to flames later in the evening with state honour in Jhunjhunu district.
His daughter and sitting Congress MLA Reeta Chaudhary lit the pyre.
A seven-time MLA, Chaudhary had served as minister twice and as many times as Leader of Opposition. He had also been Deputy Speaker in the Assembly and headed Rajasthan Pradesh Congress Committee from 1980-82.
An emergency meeting of the Rajasthan cabinet, chaired by Chief Minister Ashok Gehlot passed a condolence resolution and described him as a leader who dedicated his life for the welfare of the weaker sections and farmers.