Mr Heselden, an ex-miner, who never forgot his humble roots, was the owner of Hesco Bastion, in Leeds, which builds containers used to protect troops around the world.
His body was found in the River Wharfe at Boston Spa, near Wetherby, after accidentally plunging from a 30ft cliff in September last year. His Segway was found nearby.
Today it was revealed that Mr Heselden, who was one of the 400 richest people in the UK, had left an estate of £343,172,206 to his widow Julie and other family members.
In December 2009, Mr Heselden led a British team which bought the US-based Segway firm, which makes and distributes the distinctive two-wheeled, self-balancing scooters.
Mr Heselden, who left school when he was 15, was known as much for his charity giving as he was for his massive fortune. The Leeds Community Foundation said he had donated £23 million to causes in his home city since 2008 and he was also closely linked to the Help For Heroes charity, which supports injured military personnel.
On Friday, a statement released on behalf of the trustees of Mr Heselden’s estate said: “It can be confirmed that Jimi left an estate of £343,172,206 which he has bequeathed to his widow Julie and other family members. The estate consists substantially of Jimi’s controlling interest in Hesco Bastion Ltd.
“The family wishes that Jimi’s legacy will live on in the many charities and good causes he supported during his lifetime.”
An inquest, last month, heard he probably died due to an “act of courtesy” to a fellow dog walker and likely he lost his balance while moving to let him pass. Coroner David Hinchliff, recorded a verdict of accidental death.