Tiwari was born on October 18, 1925, in Nainital and held a law degree from Allahabad University.
Prime Minister Narendra Modi and leaders of various parties expressed grief over his demise.
"Saddened by the passing away of Shri ND Tiwari Ji. A towering leader, he was known for his administrative skills. He will be remembered for his efforts towards industrial growth & working for the progress of UP & Uttarakhand, a state he steered in its initial days," the Prime Minister tweeted.
Uttarakhand Chief Minister Trivendra Singh Rawat and his Uttar Pradesh counterpart Yogi Adityanath too conveyed their condolences.
Rawat said Tiwari's death was a "personal loss".