President Joachim Gauck's office announced Weizsaecker's death today.
Weizsaecker, a patrician and eloquent figure who was president from 1984 to 1994, raised the profile of the largely ceremonial presidency and established himself as a moral conscience for the nation.
Weizsaecker's May 1985 speech marking the 40th anniversary of Nazi Germany's defeat in World War II cemented his reputation. It won widespread praise as an effort to bring fellow Germans to terms with the Holocaust.
"The 8th of May was a day of liberation," he told the West German parliament. "It freed us all from the system of National Socialist tyranny."
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Later that month, the Netherlands' German-born Prince Claus presented the president with a Dutch translation of the speech, telling him that it enabled him finally to acknowledge his roots in a country where resentment of the Nazi occupation remained widespread.
"Richard von Weizsaecker stood worldwide for a Germany that had found its way to center of the democratic family of peoples," Gauck, the current president, said in a message of condolences to Weizsaecker's widow. "He stood for a federal republic that faces up to its past."
Weizsaecker served as deputy defence counsel to his father, career diplomat Ernst von Weizsaecker, who was sentenced in to prison in Nuremberg after the war for his role as a deputy foreign minister during the Nazi era.