It is said that Rubinstein (76 years old) was hit by a car when he tried to cross a street in the Russian capital, Moscow.
The poet, writer and activist was taken to the hospital with serious injuries and was placed in a medically induced coma.
On Sunday, the family confirmed Rubensijten's death.
– My father, Leif Rubinstegen, died today, he writes Maria's daughter on social media.
Part of the underground
Rubinstein was a central figure in the Soviet Union's underground culture, and established himself as a poet in the 1970s and 1980s in Moscow.
It was only officially released at the end of the 1980s, when the Cold War was in full swing, but it already had a large following.
After the fall of the Soviet Union, he began writing regular articles for major Russian publications such as Kommersant, and published a number of books, Writes the Moscow Times.
His writing and activism often went hand in hand.
Rubinstein's poetry, initially recorded on index cards, was itself a protest against the Soviet Union's tight grip on all aspects of social life.
Later, he became involved in Russia's persecution of writers and artists, the LGBT community, and the wars against Chechnya and Ukraine.
The report says the driver of the car traveling in Robenstjen was charged on Monday over the collision Russian state-run news agency TASS.
They did not mention Rubinstein's activism or opposition to the war in Ukraine.
“Organizer. Social media geek. General communicator. Bacon scholar. Proud pop culture trailblazer.”