Madoff died at Sloan Kettering Cancer Center after fighting mantle cell lymphoma. He was 48.
"Andrew Madoff has lost his courageous battle against mantle cell lymphoma," lawyer Martin Flumenbaum said. "He died peacefully at Memorial Sloan Kettering Cancer Center on September 3, 2014, surrounded by his loving family."
Madoff and his brother Mark turned their father in to the authorities in 2008.
Both brothers denied knowing about the fraud and were never charged with a crime. Their father is serving a 150-year prison sentence after pleading guilty to the fraud that cost investors some $17 billion.
Mark Madoff committed suicide in December 2010, on the second anniversary of their father's arrest.