Her family was by her side‚ family spokesman Victor Dlamini said.
Madikizela-Mandela was married to Mandela from 1958 to 1996.
Senior African National Congress (ANC) figures stood side-by-side with members of the hard-left Economic Freedom Fighters (EFF) party outside Madikizela-Mandela's red-brick house in Soweto, chanting songs from the struggle against white minority rule as mourners gathered for a second day.
Winnie Nomzamo Madikizela-Mandela represented some of the most courageous elements of the struggle against apartheid in South Africa, but also its weaknesses.
Her convictions for kidnapping and fraud, and her reputation for overseeing brutal gang violence in black townships, were largely brushed aside by eulogies of her bravery, independence and integrity.
But although she became an global symbol for the anti-apartheid struggle, there was a dark side to her campaign. "There is no way we can just forget about Winnie because she is an icon to many female politicians and feminists in Africa and it is for that reason that we should do something for her and recognise her efforts", she was quoted as saying.
"We here in Jamaica supported her in that struggle as she maintained the legacy of her then husband Nelson Mandela while he was locked away for 27 years", he said.More news: Korean art troupe performs in Pyongyang with NK leader in attendance
She "was no angel and was punished for her mistakes", it concluded. For some, she was the "Mother of South Africa", a revolutionary who fought the brutality of the apartheid regime to bring equality to her country.
Davis said she was saddened by Winnie's death and praised her lifelong activism, and for being someone who "fought tirelessly for the future of a people and the future of a nation".
In a release, the party said Mandela "was unflinching in her quest to rid South Africa of the system of hate based on racial lines that segregated, brutalised and murdered thousands of black South Africans". Many will compare her with her ex-husband, Nelson Mandela.
Madikizela-Mandela, was only mentioned in the parts of the will made public in relation to her children, grandchildren and great-grandchildren.
Any fair-minded person can not reflect on Mrs Madikizela-Mandela's life without mentioning 14-year-old Stompie Sepei. She must have spent years building up levels of resentment and anger that she probably dreamt of unleashing against her tormentors, wiping them off the face of the earth.
Instead, she endorsed the "necklacing" method of killing suspected informers and police with fuel-doused tires put around the neck and set alight. We came from a very brutal period of our history, a country that was segregated, [and] to transition from that era to where we are today has been a really painful journey, " Madikizela-Mandela said. "And he shed tears to say that we have made a decision to separate".
She was South Africa's first black university-educated social worker - but suffered beatings, detention and torture while her husband was in prison for decades. Despite it all she never lost her endless compassion.