55-year-old Naidu died in a road accident in his native Srikakulam district of Andhra Pradesh early today.
In his condolence message, the Prime Minister described Naidu as a "distinguished" Parliamentarian and political personality who made valuable contribution to public life.
"I have learned with profound sorrow about the tragic demise of Yerran Naidu in a road accident. In his death, we have lost a distinguished Parliamentarian and political personality who made a valuable contribution to public life in Andhra Pradesh and India. My heart goes out in sympathy to the members of the bereaved family," the Prime Minister said.
The Congress President also expressed her heartfelt condolences.
His funeral will take place this afternoon in his village in Srikakulam.