The controversial Judgement Day preacher Harold Camping has died at the age of 92.

Camping made headlines around the world when he predicted that the world would end on May 21, 2011.

The ministry he founded, the Family Radio network, spent millions of dollars on billboards worldwide advertising May 21.

However, when the date came and went without rapture, those who had believed in him and sold all their possessions were left devastated.

Undeterred, Camping then said he had made a mistake and that Judgement Day would actually fall on October 21.

When this date also proved to be incorrect, Camping apologised for getting it wrong and said he would not be making any more predictions.

The Family Radio network said Camping died on December 15 after sustaining injuries in a fall in his home on November 30 that he was unable to recover from.

"He passed away peacefully in his home, with his family at his side," the Family Radio network said in a statement.

"We know that each of us remain in God's hand, and God is the One who knows our appointed time to leave our earthly body behind.

"We are thankful to know that Family Radio is God's ministry, and will continue to be in God's care and keeping."