The colorful and controversial Ford -- elected in 2010 -- earned worldwide notoriety in 2013 when he refused to resign after acknowledging that he had smoked crack during his tenure.
"On behalf of the people of the city of Toronto, I offer my sincere condolences to his loved ones at this time," said his successor, Mayor John Tory, adding that Toronto had been left "reeling" from the sudden news of Ford's death.
Ford's family called him a "dedicated man of the people" and said information on memorial services would be announced at a later time.
Ford, an anti-tax populist, burst into the headlines in 2013 when an alleged drug dealer tried to sell a video of the mayor apparently smoking crack.
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At first, Ford denied using the drug, but he later acknowledged smoking crack cocaine in a "drunken stupor," while saying he was not an addict.
Ford entered rehab soon after the emergence of the video, saying he had struggled to get a grip on his personal demons.