Jerry Parr died yesterday in a Washington hospice of congestive heart failure, his wife Carolyn Parr said in a statement.
"He died peacefully surrounded by loved ones near his home in Washington DC," a media release said.
Nancy Reagan, the former First Lady, described Jerry Parr as one of her true heroes.
"Without Jerry looking out for Ronnie on March 30, 1981, I would have certainly lost my best friend and roommate to an assassin's bullet," she said in a statement.
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Parr was the lead agent the day John Hinckley Jr. Shot Reagan and three others. After hearing six gunshots, he grabbed Regan by the shoulders and pushed him into the car.
Agent Ray Shaddick shoved Reagan into the back, made sure Reagan's legs were in the car, and slammed the door shut.
Reagan spent two hours in surgery and was hospitalised for about two weeks.
One of the doctors who treated Reagan said if the car had gone to the White House, he would have died.
Jerry Parr served as a Special Agent in the United States Secret Service from 1962 to 1985.
During his tenure he protected four Vice Presidents and was Special Agent in Charge (Head of White House Detail) for Presidents Carter and Reagan.
After retiring from the Secret Service, Parr earned a Master's degree in Pastoral Counseling from Loyola University.
Parr was involved in a number of professional organisations and community service activities including the Association of Former Agents of the US Secret Service and the American Association of Pastoral Counsellors.
He was also a former co-pastor, Retreat Leader and Spiritual Director for Festival Church in Washington DC.