89-year-old Mishra breathed his last at his residence.
Mishra, who had served as Governor of Gujarat, was a bachelor.
Chief Minister Nitish Kumar, his deputy and senior Bihar BJP leader Sushil Kumar Modi visited his residence to pay condolence.
Kumar described Mishra as a senior politician dedicated to the cause of social work.
"With the passing of Mishra an era in politics has come to end," he said in his condolence message.