Hendricks, who played in 12 tests for South Africa and scored five tries, was also part of their sevens team when they won gold in the World Games in 2013 and the Commonwealth Games in 2014.
A heart condition had forced him to retire in 2015, but he returned to the sport in 2019 and played in a total of 233 first-class matches in a professional career spanning more than 17 years.
“We are deeply saddened by the sudden passing of Cornal Hendricks, a remarkable athlete who represented his country in sevens and fifteen-man rugby with distinction," SA Rugby president Mark Alexander said in a statement.
"Cornal was one of those players who loved the game and he worked extremely hard, but he always did so with a smile on his face... our heartfelt condolences go out to his wife Stephaney and their children, his family, friends, and teammates."
Bulls rugby director Jack White said: "Many people were shocked and sad when his career was cut short in 2015.
"When we had the opportunity to get him back on the park, he took that with open arms and made a remarkable use of his second lease in professional rugby.
"We all witnessed him leave no stone unturned as he inspired his team-mates and the South African community through his story of hope and courage.
"Rugby has lost one of the good ones."