As soon as the house assembled, Chairman Hamid Ansari read out a condolence message in which he said: "The country has lost an able parliamentarian and dedicated social worker."
The house then observed two minute silence in Valmiki's memory.
Prime Minister Manmohan Singh was also present in the house at the time.
Valmiki, who was elected from Rajasthan, had been a member of the Rajya Sabha since April 2006.