My Life with Frank, with Wendy Holden, which explored her childhood, her time with Frank and her philanthropic pursuits.
It was her third marriage, Sinatra's fourth and the most enduring union for both.
The couple were married for nearly 22 years, the longest of all his marriages, during which time she set up the Barbara Sinatra Children's Center, to help abused children. She soon married Robert Oliver and started her modeling career.
He sadly passed away from a heart attack in 1998 at the age of 82. She had previously been married to Zeppo Marx, the youngest of the Marx Brothers comedy team.
Funeral arrangements will be announced in a few days, according to John E. Thoresen, director of the Barbara Sinatra Children's Center Foundation. She's also survived by daughter-in-law Hillary Roberts and granddaughter Carina Blakeley Marx. She married Marx in 1959, but their marriage collapsed in 1973 when she was caught having an affair with Sinatra. She was 90 years old.
Barbara became involved in supporting and raising funds for a number of charitable projects years after she married Sinatra.
In her 2011 memoir called "Lady Blue Eyes: My Life with Frank", Mrs Sinatra detailed how she first met the My Way singer when he was with his second wife Ava Gardner.
She used her fame for massive charity efforts, including founding the Barbara Sinatra Children's Centre in 1986, which provides support and counselling for abused children.