James Joseph Dresnok was among just a handful of American servicemen to desert following the 1950-53 Korean War, crossing the heavily fortified Demilitarised Zone in 1962.
He went on to appear in North Korean propaganda films and was believed to be the last US military defector in the country, the others all having died or been allowed to leave.
In a video interview posted on the state-run Uriminzokkiri website, Ted and James Dresnok, his two adult sons, confirmed that their father suffered a fatal stroke in November last year.
Brown-haired and hazel-eyed, he wore a Korean People's Army uniform in the video like his brother, adorned with a badge depicting the North's founder Kim Il-Sung and his son and successor Kim Jong-Il.
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Both men were born in North Korea and spoke Korean with a thick Northern accent.
"Our father asked us to render devoted service to our great leader Kim Jong-Un," said Ted Dresnok, who also goes by the Korean name Hong Soon-Chol.
It was the brothers' second appearance on the programme, after they praised the country in a May 2016 interview.
Their mother is said to have been Doina Bumbea, a Romanian whose family say she was kidnapped by Pyongyang.
In a searing 2014 report on human rights in North Korea, a UN commission of inquiry said: "Women abducted from Europe, the Middle East and Asia were subjected to forced marriages with men from other countries to prevent liaisons on their part with ethnic Korean women that could result in interracial children."
Soga was allowed to leave in 2002, and Jenkins and their two daughters followed suit two years later. He was court- martialled for desertion and given a 30-day custodial sentence. They now live on a small Japanese island where he makes a living selling rice crackers.
Four other post-1953 US army deserters are all believed to have died in the North.
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