His funeral will take place in Jhunjhunu later on Thursday.
Chaudhary was a seven-time MLA, served as minister twice and as many times as leader of opposition.
He had also been one time deputy speaker in the assembly and headed Rajasthan Pradesh Congress Committee as president from 1980-82.
His daughter Reeta Chaudhary is the sitting Congress MLA from Mandawa, Jhunjhunu.