Qasim died in Safed hospital in northern Israel after suffering from cancer of the liver for the past three years, Issam Khuri, a novelist and close family friend, told AFP.
He was best known for his nationalist poetry in which he passionately defended the rights and identity of Israel's Arab minority.
Known as a "resistance poet," Qasim's poems were widely embraced across the Arab world as a symbol of steadfastness in the struggle against foreign occupation, with many translated into English and other languages.
He was a contemporary of the late Mahmud Darwish, who was also born in a village in what later became northern Israel, and was widely considered one of the Arab world's greatest poets.
A long-time member of the Israeli communist party and resident of the northern village of Rameh near Safed, Qasim was arrested many times for his political beliefs.
He also worked as a journalist and was editor-in-chief of the Arab Israeli weekly, Kul al-Arab.