US Secretary of State Clinton said on Monday that she was cancelling a trip abroad in order to visit her mother. Rodham died shortly after midnight on Tuesday.
"Her story was a quintessentially American one, largely because she wrote it herself," a statement from the family read.
"She overcame abandonment and hardship as a young girl to become the remarkable woman she was - a warm, generous and strong woman; an intellectual; a woman who told a great joke and always got the joke; an extraordinary friend and, most of all, a loving wife, mother and grandmother."
The family will hold a private service celebrating Rodham's life.
Hillary's husband Bill Clinton recently revealed that he turned down an offer to appear as a contestant on Dancing with the Stars because he "didn't have time".
Joan Rivers has praised Hillary for having perfect style, claiming the Secretary of State has developed a fashion sense that never distracts from her role as a diplomat.