He was 66.
"Rajesh passed away around 3 PM in Hyderabad due to a heart attack. He was shooting there for a south Indian film. It is very shocking news," Vivek's friend Vishnu Sharma said.
"We were close friends. We knew each other for last 40 years. He was fine. It was not that he was unwell or anything like that," he said.
Vivek was first introduced by Shyam Benegal in his film Junoon (1978).
Basically a theatre actor, he had also acted in popular television series like Mahabharata, Bharat Ek Khoj and Aghori.
He made his mark as a villain in the beginning with films like Veerana and Joshilay, often playing roles of henchman, but later on he started doing comic and supporting roles.
Some of his latest films include Bunty Aur Babli, Bhoot Uncle, What is Your Rashee, Agneepath, Son of Sardaar and Dishkiyaoon.
He had played the role of a dreaded dacoit in Bandit Queen.
'I want clean-shaven roles!'
'India is taking comedy too seriously'
Harry Potter actor Alan Rickman dies
There Is A Happy Land Where Only Bowie Plays
Lessons from Bollywood: How to Cook