Dr Heimlich died at a hospital in the US city of Cincinnati early on Saturday following complications from a heart attack he suffered on Monday, his family says.
Dr Heimlich invented the lifesaving technique, which uses abdominal thrusts to clear a person’s airway, in 1974.
In May he used the technique himself to save a woman at his retirement home.
He dislodged a piece of meat with a bone in it from the airway of an 87-year-old woman, telling the BBC: “I didn’t know I really could do it until the other day.”
Dr Heimlich was director of surgery at the Jewish Hospital in Cincinnati when he devised the technique.