He was the last surviving member of the Pro Football Hall of Fame's inaugural class.
David Baugh said his father had battled Alzheimer's and dementia for several years.
He had been ill recently with kidney problems, low blood pressure and double pneumonia.
"It wasn't the same Sam we all knew," his son told The Associated Press. "He just finally wore out."
After starring at TCU, "Slingin' Sammy" Baugh played with the Redskins from 1937 to 1952.
While he was noted for his passing, Baugh was one of the best all-around players of his day.
One season he led the league in passing, defensive interceptions and punting. In one game, he threw four touchdown passes and intercepted four passes.