Only 67 people are known to have survived the camp, fleeing in a revolt shortly before it was destroyed.
Treblinka holds a notorious place in history as perhaps the most vivid example of the "Final Solution," the Nazi plan to exterminate Europe's Jews. Unlike at other camps, where some Jews were assigned to forced labor before being killed, nearly all Jews brought to Treblinka were immediately gassed to death.
Only a select few, mostly young, strong men like Willenberg, who was 20 at the time were spared from immediate death and assigned to maintenance work instead.
"The world cannot forget Treblinka," Willenberg told The Associated Press in a 2010 interview.
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He described how he was shot in the leg as he climbed over bodies piled at the barbed wire fence and catapulted over. He kept running, ignoring dead friends in his path. He said his blue eyes and "non-Jewish" look allowed him to survive in the countryside before arriving in Warsaw and joining the Polish underground.
"I live two lives, one is here and now and the other is what happened there," Willenberg said. "It never leaves me. It stays in my head. It goes with me always."
His two sisters were killed at Treblinka. He described his survival as "chance, sheer chance."
His daughter said he died on Friday. He is survived by a daughter and grandchildren.