"My mother passed away peacefully tonight at the age of 101", Nancy Jr. wrote.
"She was a blessing and the light of my life".
MRS Sinatra was a lovely and classy woman, who whenever you would read about her in articles or in forums on Facebook, was highly respected. They married in New Jersey, in February 1939, just as Frank's singing career was about to take off.
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When Sinatra eventually became a huge success at the beginning of the 1940's, they went on to move to Los Angeles, where he became a movie star and a famous ladies' man.
He married actress and Hollywood bombshell, Ava Gardner, just 10 days after his divorce from Nancy Sinatra. Frank married Gardner, while Nancy went on to raise their children, Nancy, Frank Junior, and Tina.
Nancy raised their three children, Nancy, Frank and Tina. Daughter Nancy Sinatra remembered how hard the divorce was on her mother. Nancy Sinatra never remarried.
Their marriage ended in the 1950s after his affair with actress Ava Gardner made headlines.
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In this October 23, 1946 file photo, singer Frank Sinatra and his wife Nancy smile broadly as they leave a Hollywood night club.
But the pair remained close until Frank Sinatra's death in 1998 at the age of 82, after a heart attack, the newspaper reported.
The Sinatras separated in 1950 and their divorce was finalised in 1951.
Her daughter Nancy Junior, famed for her song These Boots Were Made For Walkin', posted the news to Twitter early on Saturday morning.
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Gay Talese, in 1966, wrote there was "no bitterness", and instead, only "great respect and affection" between Frank and Nancy.