He was 90.
Chaudhary is survived by his wife and five sons, said his son and Bihar Congress President Ashok Chaudhary.
Chaudhary represented four assembly constituencies - Rajauli, Jehanabad (SC), Makhdumpur and Barbigha - for eight terms in an illustrious career spanning four decades and also served as minister in Congress governments in Bihar.
He was first elected to the legislative assembly from Rajauli seat in 1961.
Chief Minister Nitish Kumar expressed profound grief at the death and said that it caused a huge void in public life.