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He was dropping his teenage son and daughter off in a Johannesburg suburb when he was attacked by car thieves.
Local radio stations have been flooded with tearful callers expressing outrage at the murder and renewing demands that the authorities act to curtail crime.
South Africa's leader paid tribute to him and called on people to "confront this terrible scourge of crime".
Alongside Bob Marley, Lucky Dube was thought of as one of the great reggae artists - singing about social problems.
He was also one of the apartheid regime's most outspoken critics.
Callers to radio stations have urged South Africa's rugby team to show some form of respect when they take to the field in Saturday's World Cup final against England in Paris.
President Thabo Mbeki is attending the final and took time to pay tribute to the dreadlocked reggae star before he jetted off to France.
"It's indeed very very sad that this happens to an outstanding South African, an outstanding musician - world renowned," he said.
The BBC has been inundated with thousands of text and email messages paying tribute to the singer.
"I am a 27-year-old black South African girl. I have dreadlocks and I love reggae music so much and I am proud to be who I am, being black and African. I will miss Lucky Dube, you are an inspiration to many of us," Sbongile Diko in Durban wrote.
But the tributes have been worldwide - especially from Africa.
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NPR remembrance of Lucky Dube
BBC Network Africa on Lucky Dube
BBC readers' reaction to Lucky Dube's death
BBC report on Lucky Dube as a singing peacemaker
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