A spokesperson for her family released a statement confirming that Masilo died on Sunday after a short illness.
Born in Soweto, she was known for her vibrant energy and fearless approach to dance, incorporating African dance motifs into classic European ballet roles throughout her two-decade career.
"She had deep respect for European and contemporary music traditions, but was also unafraid to express herself authentically on stage," said spokesperson Bridget van Oerle. "She truly transformed the landscape of contemporary dance in South Africa."
In September, Masilo was honored with the prestigious Positano Léonide Massine lifetime achievement award for her contributions to classic and contemporary dance, where she was lauded as "powerful and topical."
The award citation highlighted how her innovative interpretations of classic romantic ballets incorporated African dance elements to address social issues and promote cross-cultural understanding.
Joburg Ballet expressed their grief, stating, "A brilliant light has been extinguished," and commending Masilo's "creative force as a choreographer and her wisdom as a human being."
The University of Johannesburg's arts and culture department also paid tribute, saying, "Her groundbreaking work reshaped the world of contemporary dance, and her spirit will continue to inspire generations of artists and audiences."
The UK-based Dance Consortium, which toured with Masilo in Britain twice, lamented her death as a "tragic loss to the dance world."
"Her unique perspective, captivating stage presence, and breathtaking creations amazed and inspired audiences and artists across the UK and around the world," they stated.
Lliane Loots, artistic director at the JOMBA! dance centre at the University of KwaZulu-Natal, emphasized Masilo's renowned reimagining of ballet classics like Swan Lake and Giselle.
Loots explained that Masilo masterfully blended her "remarkable skill as a ballet dancer" with "the rhythms and intentions of her own histories of African dance and of being South African."
The family statement also noted that Masilo's Swan Lake was nominated for a New York Bessie award in 2016, and her Giselle won best performance at the Italian Danza and Danza awards the following year.
In 2018, she received the Netherlands' Prince Claus "next generation" award, where she was recognized as an "extraordinary role model for young people and girls."
