A spokeswoman said Hensley died after fighting leukemia for the last couple of years.
He was 62 years old.
Governor Perdue released a statement Tuesday following his passing.
"Bob Hensley was a public servant who had the best interests of North Carolina at heart and was never afraid to speak up for what he believed," she said. "His passion, determination and sense of humor left a lasting mark on his constituents and on North Carolina. He will be missed. "