Mr Taylor was enjoying a walk with his family at Calke Abbey, in Derbyshire, yesterday when he suffered a massive heart attack.
He was taken to Queens Hospital, in Burton-on-Trent, but medics were unable to save him.
His widow Pam has paid tribute to the efforts of the ambulance and hospital staff.
His office said funeral arrangements would be announced in due course.
Mr Taylor announced last year that he would not stand at the next General Election.
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