She was 51-years-old and had suffered a rare type of stroke on Tuesday.
Her organs will be donated as per her wishes, a statement confirmed.
"It is with deep shock and great sadness that we must announce that Jill Saward died this morning in New Cross Hospital, Wolverhampton," the statement said.
Saward became a Christian aged 12 and hit the headlines in 1986 after one of the most brutal rapes Britain has ever seen.
Dubbed the "Ealing Vicarage Rape", four men broke into her father's vicarage and assaulted her boyfriend and father before brutally raping her.
She became the first victim in the UK to waive her right to anonymity in a bid to support other women who were suffering in silence.
Her book 'Rape: My Story' was credited with giving other women the power to come forward and report their own experiences.
Recently she has appeared on a number of TV and radio programmes as a vocal anti-violence campaigner and once raised awareness of the issue during a by election campaign.
Her family said: "Jill dedicated the past 30 years of her life to helping other people. It gives us great comfort to know that our wonderful wife, mother and sister was able to help other people to the very end.
"We would like to thank all those who contributed to her medical care in recent days.
"We are also so very grateful for the many expressions of prayer, love and support we have received.
"At this stage we would appreciate space and time to come to terms with what has happened."
She is survived by Gavin Drake, her journalist husband of 23 years, and her three sons.
Her friend Rev Peter Ould told Premier she was "an amazing woman".
He said: "She was complete inspiration to many of us on issues around our forgiveness.
"You could see that she understood that the core of Christian faith was forgiveness and all the time that I knew her she was a woman that would preach forgiveness, love, mercy and transformation".
He added that she would be remembered as a woman who was "fearless to speak out on key issues of Christian life, on forgiveness, on love, on creating environments to be transformed."
"I think all of her friends... we will miss her so much," he said.
Rev Arun Arora, Director of Communications for the Church of England, said: "Jill was a truly brave woman who campaigned tirelessly on behalf of victims of sexual violence.
"Her courage, fortitude and commitment made her an outstanding campaigner as well as a loyal friend to many. She was much loved and respected and will be greatly missed by those whose lives she touched.
"May Jill Rest in Peace and Rise in Glory."
Listen to Rev Peter Ould, a friend of Jill's paying tribute:
