He died before reaching hospital, a spokesman for the Ivosep morgue in Abidjan said.
Known in the Democratic Republic of Congo as the King of Rumba Rock, Wemba's career began in the late 1960s.
He became a staple of African music over the following decades, involved in bands including Zaiko Langa Langa and later Viva La Musica that reached audiences across the world.
He was known for mixing traditional African music with western rock and worked with international stars including former Genesis singer Peter Gabriel.
"Papa Wemba is a golden voice, an artist who has established himself through his work. The proof is that he died on stage," said the Minister of Culture and Arts of the DRC, Baudouin Banza Mukalay Nsungu.
Fans and colleagues paid their respects over social media and in person on Sunday.
Eric Didia, a promoter of Congolese music in Ivory Coast and friend of Wemba who was at the Ivosep morgue on Sunday morning, said Wemba will long be remembered.
"I do not know if this is a loss for African music, because the music does not die. People can listen to Papa Wemba songs in 50 years, in 100 years," he said.
Born Jules Shungu Wembadio Pene Kikumba in what was then the Belgian Congo, he moved to Europe in the 1980s, taking his band Viva La Musica with him.
Papa Wemba was also known for his taste for designer clothes, heading a flamboyantly-dressed organisation called the Society of Tastemakers and Elegant People, known as Sapeurs, in Kinshasa.
- AAP
