He was 85.
Lavanam died at a private hospital where he was undergoing treatment for old-age related illness, they said.
Born in 1930, Lavanam was the eldest son of Gora, a freedom fighter who was part of Gandhiji's Salt Satyagraha movement.
Lavanam from the age of 12 took part in India's freedom struggle along with his father and also worked closely with Mahatma Gandhi.
Later, he also participated in the Bhoodan movement of social reformer Vinoba Bhave and actively took initiatives in the JP Movement by leader Jayaprakash Narayan.
As per Lavanam's last wish, his eyes will be donated to Swecha Gora Eye Bank and body to Pinnamaneni Siddhartha Institute of Medical Sciences & Research, tomorrow, family members said.
AP chief minister N Chandrababu Naidu also expressed grief over the demise.