Archbishop William Lori announced in a statement that Keeler died at St Martin's Home for the Aged in Catonsville.
No cause of death was released. Funeral arrangements will be announced once they have been finalised.
Keeler retired in 2007 as the head of the archdiocese of Baltimore.
He devoted much of his clerical life to improving ties with other denominations, especially Jews. From 1992 to 1995, he was president of the National Conference of Catholic Bishops. He also served as moderator for Catholic/Jewish Relations and was a member of the Committee on Ecumenical and Interreligious Affairs.
The experience, Keeler said, offered him, "many opportunities to work with people from other churches and to engage in a kind of informal dialogue with them, to see their goodness and their interest in things that were good."
Keeler was a priest for 37 years and served as an expert adviser to Pope John XXIII at the reforming Second Vatican Council of 1962-65.
He took over the Baltimore Archdiocese in 1989 after serving as bishop of Harrisburg, Pennsylvania. He was elevated to cardinal on November 26, 1994.
"I thought, 'The Lord has blessed me, and how can I say thanks and what would be the best way?' And it got clearer and clearer that this is what I should do," he said.
Keeler's mother was a schoolteacher and the daughter of an Illinois farmer.
She married Thomas Love Keeler, a steel-casting salesman, in 1930 and the couple had five children.
Her son, William, was born in San Antonio, Texas, and grew up in Lebanon, Pennsylvania. He attended St Charles Seminary at Overbrook in Philadelphia, where he received a bachelor's degree in 1952.
As president of the National Conference of Catholic Bishops, it was Keeler's job to keep conference business moving but also to mediate potentially divisive issues, such as the role of women in the church and the celibacy of priests.
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