Genscher remained an active and popular figure even after leaving office. And his death triggered an outpouring of emotion on social media.
"Rest in Peace Mr #Genscher. And thank you for everything. I wouldn't be, where I am now, w/out you. God bless!" one person tweeted.
Genscher's death comes just two weeks after the death of another former German foreign minister, Guido Westerwelle, who died on March 18 at the age of 54.
The current German foreign minister, Frank-Walter Steinmeier, who is on a visit to Tajikistan, issued a tribute to his predecessor Friday.
"Over the course of his long and eventful life, Hans-Dietrich Genscher literally made history -- that of our country, Germany, and of Europe," Steinmeier said. "He is assured of a place in the history books. His lifelong task was to overcome the division of Germany and the rift in Europe.
"Hans-Dietrich Genscher was Germany's longest serving foreign minister. He was fortunate enough to play a role in German reunification, his life's great political goal, and to guide and support the completion of German unification during his own lifetime.
"We have lost a great German and a great European today."
CNN's Vasco Cotovio contributed to this report.
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