Rao, 84, died here on Wednesday following a heart attack.
Both Naidu and Rao hail from Nellore district in Andhra Pradesh.
"I am deeply grieved to hear about the demise of a doyen of constitutional law, P. P. Rao. I convey my deepest condolences to the bereaved members of the family," Naidu said.
Rao was elected President of the Supreme Court Bar Association in 1991 and was awarded the Padma Bhushan in 2006.
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