Nanamal, from a family of farmers, learned yoga at the hands of her father.
She told the BBC, in 2017, that the secret to her good health was to stick to yoga exercises daily.
She said, "When health becomes a priority for you, everything can be achieved."
Nanamal is known as the "grandmother of yoga" and was awarded the Padma Shri Medal, one of the highest honors in India.
She was a celebrity on YouTube in her later years, continuing to showcase stunning yoga workouts wearing pink sari, which has become part of her fame.
Her family reported that she had fallen from her bed, her health had deteriorated since then and she died at home in the southern state of Tamil Nadu.