Aragones began Spain's dominant era of international football by winning Euro 2008 with the tiki-taka approach.
"I have just received the news of the sad passing of Luis Aragonés this morning in Madrid," wrote Benitez on his official website.
"Both as a player and Coach was one of the great football legends. He was a reference point for many generations of football players, Coaches and fans of our sport.
"My condolences and thoughts are with his family, friends, colleagues and fans. Rest in peace, the great 'wise man of Hortaleza'."