WXIN-TV, Indianapolis, reported Jacobs, who represented Indiana in Congress from 1975 to 1997, died at his home. No cause of death was provided.
Gov. Mike Pence said Jacobs had made "incalculable" contributions to Indiana and the nation.
"Andy Jacobs personified the kind of principled and compassionate leadership that Hoosiers most admire and he will be greatly missed," Pence said.
Indianapolis Mayor Greg Ballard said Jacobs, whose father also had served a term in Congress, "worked tirelessly to lift the fortunes of Indianapolis and its residents, for which we will remain eternally grateful."
"Indianapolis has lost one of its greatest champions and public servants," Ballard said.
WISH-TV, Indianapolis, noted Jacobs helped write the 1965 Voting Rights Act.
His survivors include his wife Kim and two sons.