Hilda Shriver, 95, matriarch of the well-known Maryland Shriver family, died yesterday at the home of her son, Thomas Herbert Shriver II, in Baltimore.

She had been residing with her son, who is an associate with Alex Brown and sons, investment bankers, for the past several years.

Mrs. Shriver also was the mother of Robert Sargent Shriver Jr., vice presidential candidate in 1972 who now practices law in Washington, New York and Europe. His home is in Rockville.

Born in Union Mills, Md., Mrs. Shriver was the only daughter of Thomas Herbert Shriver, Adjutant General of the State of Maryland and a leading political figure in Carroll County.

She was educated in Baltimore, where she graduated from Notre Dame College in 1902. She accompanied her father to many of his business and political meetings. She also served frequently as a personal secretary to James Cardinal Gibbons of Baltimore.

In 1910, Mrs. Shriver married a cousin, Robert Sargent Shriver, of Cumberland, Md. The nuptial mass was offered by Cardinal Gibbons, who was a close friend of the family. Mrs. Shriver and her husband lived for a number of years in Westminister, Md., where he was vice president of the B. F. Shriver Co.

They later moved to Baltimore where he eventually became vice president and director of the Baltimore Turst Co., now the Maryland National Bank.

In 1929, the Shrivers moved to New York City, where he was active in commercial and investment banking businesses. Together they inauguarated the National Catholic Convert League, now the St. Paul Guild, Mr. Shriver died in 1942.

While living in Baltimore, Mr. and Mrs. Shriver had formed the Catholic Evidence League and were active in numerous campaigns of political leaders.

On her 90th birthday, Mrs. Shriver was honored with a large birthday party in Baltimore and received a Distinguished Citizenship Certificate of the State of Maryland from Gov. Marvin Mandel. He declared her birthday to be "Senior Citizens Day" in Maryland.

Mrs. Shriver had been a member for many years of the Mount Vernon Club in Baltimore. She also was associated with the Society of Colonial Wars and the Society of Colonial Dames.

In addition to her sons, she is survived by eight grandchildren.