Madhok (96) was unwell for some time and had been admitted to AIIMS for a month where he died around 9 AM.
Born on February 25, 1920, in the undivided Jammu and Kashmir's Skardu area, Madhok led the BJS to its biggest ever win in 1967 when it won 35 seats in the Lok Sabha. His decline began in the 1970s as Atal Bihari Vajpayee and L K Advani rose in prominence and he was expelled from the party in 1973 on disciplinary grounds.
Prime Minister Narendra Modi paid his last respects to him and met his family members to condole his death.
"Heartfelt condolences on the sad demise of a stalwart leader of Jan Sangh Shri Balraj Madhok. Balraj Madhok ji's ideological commitment was strong & clarity of thought immense. He was selflessly devoted to the nation & society.
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"Had the good fortune of interacting with Balraj Madhok ji on many occasions. His demise is saddening. Condolences to his family. RIP," Modi said in earlier tweets.
In 1951, he was the convener of the first convention of Bharatiya Jana Sangh and was appointed the national Secretary. In 1966, he was elected as National President of Bharatiya Jana Sangh.
Madhok's close associate L K Advani described him as a leader who was fully committed to Jana Sangh's ideology and principles.
"I am deeply grieved to learn about the passing away of Balraj Madhok. I mourn Balraj Madhok's passing away and offer my heartfelt condolences to his two daughters. May the departed soul rest in peace," he said in his condolence message.
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Lok Sabha Speaker Sumitra Mahajan also condoled the death of Balraj Madhok. In her condolence message, she said, "I am saddened to learn about the sad demise of Balraj Madhokji. I convey my condolences to bereaved members of his family. May the departed soul rest in peace."
BJP president Amit Shah went to Madhok's residence to condole his death.
RSS chief Mohan Bhagwat condoled Madhok's death, saying his work at the time of partition will remain etched in the memory of patriots.
"We pay tributes to him on the behalf of all swayamsewaks," they said in a joint condolence message.
RSS joint general secretary Krishan Gopal also visited Madhok's residence.
Madhok was later cremated at the Pusa Road crematorium. A number of RSS and BJP leaders attended the funeral, including Union Ministers Arun Jaitley, M Venakaih Naidu, Harshvardhan and Dharmendra Pradhan.