General Baker was defence head from 1995 to 1998. He was 71 years old.
He joined the army in 1954 and graduated from the Royal Military College, Duntroon, into the Royal Australian Engineers.
An ADF spokesman said he served with diligence and honour and was mentioned in dispatches during service in Vietnam.
"General Baker's service to Australia was characterised by his superb leadership and outstanding capacity for understanding the details of any situation," the spokesman said.
"His career, spanning over 44 years, saw him undertake a wide variety of positions from strategy development and combat development through to director of the Joint Intelligence Organisation."