Mr Munro was the last remaining Dambuster from the original World War II mission.
Speaking to NZME News Service, Graeme Munro, Mr Munro's eldest son, said the family was upset by his death early this morning, but realistic given his age.
"His family had been spending time with him, and we're sorry to see him go. He was the patriarch of the family but he went very peacefully and for that we're very pleased, Mr Munro said.
He said his father lived "an incredibly long life, given what he's had to go through".
"We're sorry to see him go, we're very distressed. [But] we're realistic that it was time for him to pass. And he went the best way - quietly."
Prime Minister John Key, who is in Rarotonga, paid tribute today and tweeted: ''Really sad to hear of Les Munro's death, New Zealand has lost a remarkable man who led a remarkable life.''
Mr Munro died following heart problems, the New Zealand Bomber Command said. In a tribute to the World War II veteran, the association described him as a patron and a good friend.
"I have extremely sad news. Our New Zealand Bomber Command Association Patron, and well known Dambuster pilot, Les Munro passed away last night following a spell in hospital with heart problems," a tribute post on its Facebook page said.
"So, so sad. He was a mighty man."
Peter Wheeler, chief executive of the New Zealand Bomber Command, posted: "A good mate and a real loss to all of us. Godspeed my friend."
Others also paid tribute to the former pilot.
Andrew Porrelli said: "Our deepest condolences to his family and friends, from all the Veterans, admin, family and friends at 514 Squadron RAF - Rest in Peace Mr Munro Sir!!"
Glen Turner posted: "Our sincere condolences and with deep sadness to Les Munro's family. He showed us what a true gentleman and hero is all about. From the 75 Squadron Association of New Zealand."
Brett Curtis described the death as "exceptionally sad news", and shared this personal memory of meeting Mr Munro: "Had the opportunity to spend 5-10 minutes with him at Tauranga Air Show a cple of years ago - when I mentioned that he was flying so low the German gunners could have thrown stones at his plane, he replied 'Sure sounded like it, son!' As I'm in my 50s, it's been a long time since someone called me 'Son'! But I had so much respect at meeting Les Munro I was still bouncing around with an adrenilin rush for hrs - not often you meet a true Hero!"
Medals gifted to museum
Earlier this year, Les Munro gifted his gallantry medals, along with his flying log book and other memorabilia, to the Museum of Transport and Technology (Motat), after they were saved from auction by British businessman and World War II enthusiast Lord Ashcroft.
Mr Munro said at the time he had felt compelled to put his treasured war memorabilia up for auction to raise money to help with the maintenance of the Bomber Command Memorial in London after visiting the site in 2013.
His medals and memorabilia were set to go under the hammer at London auction house Dix Noonan Webb before Lord Ashcroft stepped in and offered to donate £75,000 ($NZ150,000) to the fund.
Mr Munro was also this year awarded the French Legion of Honour for his bravery and commitment in World War II, adding to his list of honours.
His funeral will be held on Saturday at 1.30pm in the Classic Flyers Museum in Mt Maunganui, his son said.
"He's been a very organised man in his life, so it had been pre-arranged for a long time, a couple of years. We're just following his procedures, should we say. Everything's organised and plans have clicked into action."
The farewell would be open to the public, Mr Munro said.
- By Patrice Dougan of NZME News Service
