The three-time World Cup winner had been in hospital in Sao Paulo since late November.
Pele’s daughter Kely Nascimento wrote on Instagram: “We are thanks to you. We love you infinitely. Rest in peace.”
Nascimento, who had posted before Christmas that members of Pele’s family would spend the holiday period in the hospital with him, added three heartbroken emojis.
A message on Pele’s official social media accounts read: “Inspiration and love marked the journey of King Pele, who peacefully passed away today.
“Love, love and love, forever.”
The Brazil hero made many trips to the UK over the years and was no stranger to Sheffield, where he made a number of visits.
In 1972 he came here along with his side Santos as part of a UK tour ans packed out Hillsborough for an afternoon friendly with Sheffield Wednesday.
In more recent times he has been at Sheffield United’s Bramall Lane and helped Sheffield FC celebrate their 150th anniversary when they took on an Inter Milan side in a friendly at the Lane in 2007.
See our gallery for pictures of the great man in the Steel City.
11. Pele at Bramall Lane.
Pele gets a walk around the pitch at Sheffield United's home Photo: Steve Ellis
12. Waving to the crowd
Pele on the pitch before the game between Sheffield FC and Inter Milan as part of the world's oldest club's 150th anniversary Photo: Steve Parkin