"Mandela is a tallest peak in the history of mankind," Chief Minister N Kiran Kumar Reddy said, moving a condolence motion.
"Mandela fought relentlessly against apartheid and for establishing human rights in Africa. He's a great warrior who fought for the freedom and rights of African people. He sacrificed his life for ensuring equal rights for all and also for poverty alleviation," the Chief Minister said.
Among many worldwide honours bestowed on Mandela were Bharat Ratna (in 1990) and Nobel Peace Prize (1993), Kiran Kumar recalled.
"On behalf of people of Andhra Pradesh, I convey heartfelt condolences to Mandela's family members and people of South Africa," he said.
Leader of Opposition N Chandrababu Naidu said Mandela proved to the world that anything could be achieved through non-violence.
"Mandela followed in the footsteps of Mahatma Gandhi and took the path of non-violence to rid South African people of apartheid. He strove immensely for the betterment of Africans," Chandrababu said.
It was a matter of pride for all Indians that Mandela was conferred Bharat Ratna, he added.
YSR Congress leader Y S Vijaya, TRS leader K T Rama Rao, CPI leader Gunda Mallesh and others also recalled Mandela's life and struggles.
The House then paid homage to the departed leader.
Earlier, winter session of the Assembly began at 10 AM with TDP and TRS members standing in the Well of the House and raising slogans for and against the proposed bifurcation of the state.
Speaker Nadendla Manohar asked the members to return to their seats as the House was supposed to take up a condolence motion on Nelson Mandela.
Order restored immediately and the Chief Minister moved the motion.