He was 74 and is survived by his three daughters.
The dance guru had been admitted to All India Institute of Medical Sciences (AIIMS) after he complained of chest pain, they said, adding, he passed away at the hospital
Recipient of many awards including Kendriya Sangeet Natak Akademi award, Behera, who hailed from Buanl village of Balasore district, had started training in Gotipua dance at the tender age of eight. He also learnt Odissi music.
Having launched his own institute,'Odissi Kendra' in 1979 in New Delhi, Behera was among those responsible for the growing popularity of Odissi in the capital.
Some of his well-known disciples include internationally acclaimed dancers like Sonal Mansingh, Madhavi Mudgal, Radha Reddy and Yamini Krishnamurty, besides his daughter Kabita Dwibedi.
For his significant contribution to the field, he received the All India Critic's Award in 1981 and Orissa Sangeet Natak Akademi Award in 1983. In 2003, Behera received the Sangeet Natak Akademi Award.