Although details were sketchy on Thursday evening sources said the former Foreign Affairs Minister had died at a hospital in Masvingo.
He had collapsed at a function where he was due to officiate at the Great Zimbabwe Hotel in the town.
Mudenge (71) had in July been reported seriously ill after he suffered a heart failure.
The Zanu (PF) minister served as Foreign Affairs minister from 1995 to 2005.
Mudenge was a professional historian focusing on African history in general but with specialty on pre-colonial Zimbabwean history. He published several books.