Balarabe, who was the first governor in the history of Nigeria to be impeached, was 84 years old.
One of the daughters of the former governor, Zulai Balarabe Musa, confirmed the death of her father.
She said Musa died in the early hours of Wednesday.
According to her, the remains of the former governor will be buried after the Zuhur Muslim prayer (1pm) today, according to Islamic rites.
Earlier, former Kaduna-Central Senator, Shehu Sani, had announced the death on Twitter.
Sani said, “Alhaji Balarabe Musa has died. May Allah forgive his soul and grant him Aljanna Firdausi. Amin.”
Balarabe, who was a progressive, was the leader of the People’s Redemption Party in the 4th Republic but stepped down as the chairman in 2018 due to health issues.