Mr Bullock, 60, became IAM chief executive in 1994.
He was also managing director of IAM Fleet, Drive & Survive and IAM Fleet Ireland.
When he was awarded his MBE earlier this year, he said he saw the award as recognition of the valuable and growing work of the IAM. In particular, he said the honour acknowledged all those who through the IAM dedicate their time and expertise to helping people improve their driving and motorcycling, and to saving lives on the road.
Mr Bullock lived in Fulham, west London. He is survived by his wife Linda and their two sons Nicholas and George.