After spending most of her adult life in New York City, where her husband Clifton Daniel was an editor at The New York Times, Daniel had moved to Chicago to be closer to one of her sons, The Chicago Tribune reported. Son Clifton Truman Daniel works for Truman College in Chicago.
The Harry S. Truman Library in Independence, Mo., told The New York Times that the late president's daughter had been ill for a few weeks.
Margaret Truman was the only child of Harry and Bess Truman.
As a young woman, Daniel attempted to have a singing career. That led to one of the best-known episodes in her life when her father wrote a letter to a critic who had given her a bad review, threatening to give him "a new nose" if they ever met.
She married Clifton Daniel in 1956 in the Missouri church where her parents had held their wedding in 1919. The couple had four sons, three of whom survive her. Her husband died in 2000.
Her books include biographies of both her parents and a popular series of mystery stories set in Washington.