There are no exact figures, but, as the most common serious side effect is due to a allergic reaction to the vaccine, and that reaction occurs less than 1 time per million doses administered, the number of fatalities directly due to the vaccine itself is extremely small.
The OPV (activated polio virus) causes polio just over 2 in a million times. The IPV (inactivated polio virus) does not cause polio at all. IPV is now the standard vaccine given in countries where polio is no longer present - OPV is the standard where polio is still endemic (as it is a bit more effective than the IPV in promoting resistance).
Overall, in the 50+ year history of the various polio vaccines, I would estimate that the total number of deaths linked to the vaccine number in the low hundreds, almost all of them due to uncontrolled allergic reactions. Which is a very low risk, considering that upwards of 20 billion vaccines have been given.
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The polio vaccine was introduced in 1955. Before the development of the vaccine one thousand people died each year from the disease.
23 million people, have so far been killed by Polio. That is an estimate by the USDA.