Kaunda, who died at the age of 97, ruled Zambia from 1964, when the Southern African country won its independence from Britain, to 1991.
He died while on admission at a military hospital in the capital, Lusaka, suffering from pneumonia.
The former leader of Zambia became one of the most committed activists against HIV/AIDS in Africa.
Nana Addo expressing his condolence to the people of Zambia in a Twitter post said "On behalf of the Govt & people of Ghana & on my own behalf, I extend sincere condolences to the President, Govt & people of Zambia on the loss of their first President & one of the icons of Africa’s independence movement, Kenneth David Kaunda. May his soul rest in perfect peace."