Alice Herz-Sommer, who lived in London and was originally from Prague, had been confined in the camp in Terezin, or Theresienstadt, in Germany during the Second World War.
Ms Herz-Sommer was a talented musician and an adept pianist.
She is said to have counted esteemed existentialist writer Franz Kafka among her family friends and, more recently, was the subject of an Oscar-nominated documentary about her life.
The Lady In Number 6: Music Saved My Life, a 38-minute film, is up for best short documentary at the Academy Awards to be handed out next weekend.
Her grandson, Ariel Sommer, said tonight: "Alice Sommer passed away peacefully this morning with her family by her bedside.
"Much has been written about her, but to those of us who knew her best, she was our dear 'Gigi'.
"She loved us, laughed with us, and cherished music with us.
"She was an inspiration and our world will be significantly poorer without her by our side. We mourn her loss and ask for privacy in this very difficult moment."