His daughter said he had died at Val de Grace military hospital in Paris on Tuesday evening.
Raymond Aubrac and his late wife Lucie became important members of Jean Moulin's underground
Resistance movement in 1942.
Aubrac was arrested in June 1943 with Moulin, who died after torture.
In a recent BBC interview, he described how their arrests by the Gestapo at a doctor's surgery in the suburb of Caluire in Lyon had come as "a shock but not a surprise".
Jean Moulin, who had been sent by Gen Charles de Gaulle to organise the underground resistance to Nazi occupation, was tortured, taken to Paris and later died on a train to Berlin.
Nicolas Sarkozy French PresidentHis escape, thanks to the courage of his wife Lucie Aubrac, has entered into the legend of Resistance history”