He was 69 and survived by his wife and two children.
Kabra was suffering from liver cancer and had been shifted to Mumbai from Jodhpur three days days ago, said Congress' spokesperson Ajay Trivedi.
"He was in critical condition and was put on ventilator. Today afternoon, he breathed his last in the hospital," said Trivedi.
When the news of Kabra's demise broke, former Chief Minister Ashok Gehlot, who was in Ahmedabad to oversee some party works, immediately took off for Mumbai.
Kabra, a one time MLA from Jodhpur city, had lost two consecutive elections in 2003 and 2008.
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