Murray, who retired from the Army as a colonel, received the Medal of Honor, three Silver Stars, two Bronze Stars, and the French Legion of Honor.
He died of congestive heart failure Friday, six weeks after having a pacemaker implanted, Brian Murray, told The State newspaper in Columbia.
"He was taking a nap," Murray said. "He died at home in his bed."
"He was the epitome of the American hero," said Maj. Gen. James E. Livingston of Charleston, S.C., also a Medal of Honor recipient. "He was a humble guy. Never self-serving. We all love him and are going to miss him. He's a loss for the country and certainly for South Carolina."
Murray served with war hero Audie Murphy and was one of the most decorated soldiers in the most decorated division in the Army, the famed 3rd Infantry Division.
He is survived by his wife, Anne, son Brian and daughter Cynthia Anne. Another son, Charles P. Murray III, preceded him in death.
Services are to be held Tuesday. Murray will be buried in Arlington National Cemetery.