He was 85.
Thorpe's death was announced by his son, Rupert, and was mourned by current party leader and Deputy Prime Minister Nick Clegg, and other party stalwarts.
Clegg praised Thorpe's "leadership and resolve" in reviving the party, now called the Liberal Democrats, but the former party leader once a familiar, dapper figure in Parliament had largely stayed out of the public eye since he was cleared of serious criminal charges in 1979. He had suffered from Parkinson's disease for more than 30 years.
Thorpe was leader of Britain's venerable third political party from 1967 until 1976, when he stepped down from that post following allegations by Scott that they had had a gay relationship in the early 1960s, when homosexuality was still a criminal offense in Britain.
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Thorpe repeatedly denied Scott's allegations, first made in the early 1970s.
In 1976, Scott made the allegations public in a magistrate's court in the case of a man Andrew Newton accused of shooting Scott's dog.