South Africa's anti-apartheid stalwart and the last remaining Rivonia trialist Andrew Mlangeni has died aged 95.

He was admitted to 1 Military Hospital in the capital, Pretoria, last Tuesday following an abdominal complaint, according to a government statement.

"The passing of Andrew Mekete Mlangeni signifies the end of a generational history and places our future squarely in our hands," President Cyril Ramaphosa said.

"With his passing as the last remaining Rivonia Trialist, Bab’ Mlangeni has indeed passed the baton to his compatriots to build the South Africa he fought to liberate and to reconstruct during our democratic dispensation," he added.