During his career Lucky Dube released 22 albums |
He had been dropping his teenage son and daughter off in the suburb of Rosettenville on Thursday evening.
Police say they were already out of the car when three shots were fired through a car window killing their father.
One of South Africa's most popular artists, Lucky Dube toured the world singing about social problems.
The BBC's Mpho Lakaje in Johannesburg says the murder reflects the high crime rate in South Africa.
Legend
Our correspondent, at the crash site on Thursday night, said Mr Dube's silver-grey Chrysler was surrounded by a group of investigating officers.
He noticed bloodstains on the seats and shattered windows.
Police said after the shots were fired, the car rolled a few metres down the road and crashed into a tree.
"He was declared dead on the scene," Police inspector Lorrain Van Immareck told the BBC.
She said it was suspected that three people were responsible for the attack.
Earlier this year, Lucky Dube told the BBC how he came by his name.
"When I was born I was sick so they thought I was going to die so they didn't give me a name till I was six months or so... They waited for me to die, but when I didn't die they said, 'Wow, he's a very lucky boy!' So they called me Lucky," he said.
He began his career by singing mbaqanga (traditional Zulu) music and recorded his first album with the Super Soul band in 1982.
He later moved into reggae, producing Rastas Never Die and Think About The Children in 1984.
His albums Slave, Prisoner and Together As One saw him gain first national, and then global, recognition.
Three years ago his 1989 anti-apartheid hit Together as One, which calls for world peace and harmony, was voted one of Africa's top 10 songs by BBC readers and listeners.
Lucky Dube released his most recent album, Respect, in April.
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