A cause of death was not immediately released.
Jordan died peacefully at his home surrounded by his wife and family, Jordan's niece Ann Walker confirmed to CNN.
According to Walker, Jordan had his favorite dinner and dessert -- chocolate chip ice cream -- before he went to bed.
"It was just the way he would have wanted it," Walker told CNN.
The former president of the National Urban League rose to prominence as a civil rights activist with close connections in all corners of American politics, though he was closest with Democrats, including presidents from Lyndon Johnson to Barack Obama. He also worked with Republican Presidents Ronald Reagan, George H.W. Bush, and George W. Bush.
In a statement provided to CNN on Tuesday by Clinton's office, the 42nd President remembered his late friend as someone who "brought his big brain and a strong heart to everything and everybody he touched" and "who made them better."
"He was never too busy to give good advice and encouragement to young people. And he never gave up on his friends or his country," Clinton said. "He was a wonderful friend to Hillary, Chelsea, and me, in good times and bad. We worked and played, laughed and cried, won and lost together. We loved him very much and always will."
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