The 94-year-old freedom fighter, who was ailing for a long time, breathed his last yesterday evening.
He is survived by a son and three daughters, family sources said.
Behera participated in the 1942 Quit India movement and worked with noted freedom fighters like Malati Chaudhury, Nabakrushna Chaudhury, Harekrushna Mahatab, Rama Devi and Saraswati Devi.
Behera also walked with Mahatma Gandhi in 1934 during the Padayatra of Father of the Nation in the Kendrapara district and its nearby areas.
In 2006, Behera had published his autobiography "Mo Jiban Kichhi Surti, Kichhi Anubhuti" (Memories and experiences of my life).
Also Read
The noted freedom fighter vividly described Mahatma Gandhi's visit to Kendrapada in 1934.
"I was a 14-year-old child. But I walked ten kilometers in 1934 to witness Gandhiji at Kendrapada where he addressed a public meeting," Behera said in his autobiography.
A pall of gloom descended in Behera's native Dashipur village following his death.
Purosotam Nayak, president of freedom fighters' association of Odisha and former minister Bhagabat Prasad Mohanty and others condoled the death of the veteran freedom fighter.