The accident happened a few hours after a league game against his former club Enyimba.
Udoji, who played for Pillars in Sunday's 1-1 draw against Enyimba, was involved in an accident on his way back after visiting his former employers.
Udoji joined Kano Pillars in 2016 after seven successful seasons with two-time African champions Enyimba.
He won two league titles, two FA Cups and reached the semi-final of the 2011 African Champions League with the Aba-based club.
'Ferocious captain and leader on the pitch'
Enyimba, the People's Elephants, also took to Twitter to mourn their former player and described him as a great captain, leader and legend.
Club chairman Felix Anyansi-Agwu added: "He was a ferocious captain and leader on the pitch, but a warm and gentle friend off it."
Udoji is survived by his wife and two children.
From Sammy Heywood Okine