Cuban television reported Granado's body would be cremated and his ashes spread over Cuba, Argentina and Venezuela, the Cuban News Agency reported.
Born in Argentina, Granado was a writer, doctor and scientist but was best known for his book "Traveling with Che Guevara: The Making of a Revolutionary."
The book recounted their South American trip, taken between Dec. 29, 1951, and July 1952, during which they saw for themselves the poverty and squalor of the continent's native peoples.
The book was the basis of the 2004 film 'The Motorcycle Diaries' in which Granado was portrayed by Rodrigo de la Serna. Che Guevara was played by Gael García Bernal, the news agency said.
Granado arrived in Cuba in 1961 and went on to become the founder of the Santiago de Cuba School of Medicine, The Havana Times noted.