Pippen did not say the cause of death in the Instagram and Twitter posts.
"I'm heartbroken to share that yesterday, I said goodbye to my firstborn son Antron," Pippen wrote in the posts. "The two of us shared a love for basketball and we had countless conversations about the game.
"Antron suffered from chronic asthma and if he hadn't had it, I truly believe he would've made it to the NBA. He never let that get him down, though. Antron stayed positive and worked hard, and I am so proud of the man that he became.
"Please keep his mom, Karen, and all of his family and friends in your thoughts and prayers. A kind heart and beautiful soul gone way too soon. I love you, son, rest easy until we meet again."
Antron played basketball at South Georgia Technical College, Texas A&M International University and in the World Basketball Association. He was one of Pippen's seven children.
Pippen's son, Scotty Pippen Jr. is a sophomore at Vanderbilt. He declared for the 2021 NBA Draft on April 10.
The elder Pippen played in the NBA from 1987 through 2003. The seven-time All-Star and six-time NBA Finals champion was inducted into the Naismith Memorial Basketball Hall of Fame in 2010.