In a statement, the leader of the Liberal Democrats Sir Ed Davey said that news of her death was “heartbreaking”.
He described her as “an inspiration to millions, a Liberal lion and a true trailblazer”.
“I feel privileged to have known her, listened to her and worked with her. Like so many others, I will miss her terribly,” he said.
“Political life will be poorer without her intellect, her wisdom and her generosity,” he added.
“Shirley had a limitless empathy only too rare in politics today; she connected with people, cared about their lives and saw politics as a crucial tool to change lives for the better.”
The party said Baroness Williams had passed away peacefully in the early hours of this morning.