He was received by Governor Anandiben Patel, CM Yogi Adityanath, BJP national president JP Nadda and others.
Singh passed away at the Sanjay Gandhi Post Graduate Institute of Medical Sciences (SGPGI) in Lucknow on Saturday night due to sepsis and multi-organ failure. He was 89.
Tributes poured in for the veteran BJP leader with Modi hailing his "indelible contribution" towards the development of the state and the "cultural regeneration" of India.
Singh, who also served as the Rajasthan governor, was admitted to the Intensive Care Unit of the SGPGI in a critical condition on July 4.
Uttar Pradesh has announced three-day mourning and a holiday on Monday when the former chief minister's last rites will be performed.
Singh was the Uttar Pradesh chief minister when the Babri mosque was demolished by a mob of "karsevaks" in Ayodhya on December 6, 1992. Along with BJP veterans L K Advani and M M Joshi, he was among the 32 people acquitted in the demolition case in September last year. He was also the first BJP Chief Minister of Uttar Pradesh.
He is survived by his wife Ramvati Devi, son Rajveer Singh, who is the Lok Sabha MP from Etah, and grandson Sandeep Singh, who is the minister of state for finance, technical education, and medical education in Uttar Pradesh.