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.
13. Two heroes
Brazillian Legend Pele is pictured with old Sheffield United legend Tony Currie on the pitch at Bramall Lane, Sheffield in November 2007 Photo: Simon Hulme
14. Sheffield history
Pele unveils the Sheffield FC cabinet at the Legends of the Lane museum at Bramall Lane including the first official rules Photo: Steve Hutton
15. World oldest and world's greatest
Sheffield FC chairman Richard Tims with Brazilian legend Pele Photo: Steve Hutton
16. Rising up
Brazilian soccer great, Pele, left, watches as the President of Sao Paulo soccer club, Juvenal Juvencio, right, lifts a trophy which his under 17 side had won earlier in the day at Sheffield United's home ground of Bramall Lane, Sheffield, England. Photo: SIMON DAWSON