The Lok Nayak was one of the prominent faces of the Quit India Movement and he is remembered for leading the mid-1970s opposition against Prime Minister Indira Gandhi, for whose overthrow he had called for a "total revolution".
The Janata Party was voted into power and became the first non-Congress party to form a government at the Centre under his guidance.
He was posthumously awarded India's highest civilian award the Bharat Ratna in 1999.
The Prime Minister also remembered Nanaji Deshmukh on his birth anniversary and recalled his work in the field of education, health, and rural self-reliance.
"Salutations to the great social worker who did great service to the nation Nanaji Deshmukh. He dedicated his life to the betterment of villages and farmers. His contribution to the nation-building exercise will be always a source of inspiration for the countrymen," Modi's second tweet read.