Funeral arrangements will be announced in a few days, according to John E. Thoresen, director of the Barbara Sinatra Children's Center Foundation.
Barbara was friends with Tony Curtis and known as a Palm Springs socialite when she met her future husband Frank.
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Frank Sinatra had previously been married to Nancy Sinatra (mother of their children Nancy and Frank Jr.), as well as actresses Ava Gardner, who died in 1990, and Mia Farrow. She founded the Barbara Sinatra Children's Center to help children who were victims of abuse.
Barbara was born in Bosworth, Missouri, in 1927. She soon married Robert Oliver and started her modeling career.
Frank Sinatra and Barbara Sinatra pose with at Caesars Palace in Las Vegas on May 23, 1976. They divorced, and her son eventually adopted the name of her second husband, Zeppo Marx of the Marx Brothers.
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Barbara became involved in supporting and raising funds for a number of charitable projects years after she married Sinatra.
Mrs Sinatra was Frank Sinatra's wife for more than 22 years and was his final wife before he died in 1998 from a heart attack.
Sinatra served as chairwoman of the children's center's Board of Directors and advocated on behalf of abused children throughout the United States and overseas.
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