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.
17. Watching on
Sheffield United vs Sao Paulo The Legend Pele in the stand , with Blades boss Bryan Robson in the Background. Photo: Steve Parkin
18. Meet and greet
Brazillian Legend Pele meets the Sheffield FC players ahead of their match agaonst Inter Milan at Bramall Lane Photo: Photographer 1
20. Back in Sheffield
Pele back in Sheffield - this time at Bramall Lane - holding a copy of the programme from his visit on February 23, 1972 Photo: Steve Ellis