In his later years, Banneker experienced declining health. He continued to pursue his intellectual interests as much as his physical condition allowed.

Benjamin Banneker died on October 19, 1806, at his cabin near Ellicott's Mills. Notably, his cabin burned down immediately following his funeral, destroying many of his belongings, papers, and personal effects.

Banneker's legacy endures as a pioneering African American scientist and mathematician. His achievements challenged racial prejudices and paved the way for future generations of African American scholars. His life has inspired countless individuals.

Banneker has been honored through numerous memorials, including schools, streets, and parks named after him. His contributions are celebrated in educational curricula and historical accounts, ensuring that his story continues to inspire and educate.