Technically Goku did die in the fight with hit. But because he was revived by means other than the dragon balls. Does this mean he didn't actually die?
I'm only going to count the "main" series so gt will not be included.
So there was the start of dragon ball z, in the fight against Raditz,
He did not die against Freeza as he was said to have survived it.
He died when he teleported Cell to King Kais planet as he was exploding.
And lastly in the lasted episode as of now (72) of dragon ball super, it is said that when goku was struck by Hit, he saw King Yemma at the checkout station for a second before being brung back to life by the ki blast he had shot in the air.
So in conclusion Goku died 3 times if you count the last one which could be argued as debatable, otherwise his death count is 2.