He was 74.
The legislator is survived by wife and two children.
Yadav was the MLA from Kolaras Vidhan Sabha seat in Shivpuri district of Madhya Pradesh.
The sitting MLA suffered a heart attack and was rushed to a hospital in Gwalior, around 40km from here, where he breathed his last, said district Congress spokesman Harveer Singh Raghuwanshi.
He was elected from Kolaras in the 2013 assembly elections.
Yadav, popularly known as "Dadaji" among his supporters, was also holding the post of Shivpuri District Congress president.
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