The 22-year-old daughter of Robert and Ethel Kennedy's fifth child, Courtney, died on Thursday.
Emergency services were called to the Kennedy residence in Hyannis Port, Massachusetts. Ms Kennedy Hill was pronounced dead at Cape Cod Hospital.
"Our hearts are shattered by the loss of our beloved Saoirse. Her life was filled with hope, promise and love," the family said in a statement.
A statement from her grandmother added: "The world is a little less beautiful today."
No further details about her death have been released, although US media report she died of an apparent overdose.
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