He was portrayed in both TV and film – recently by Oscar winner Eddie Redmayne in The Theory of Everything, which charted his rise to fame and relationship with his first wife, Jane.

The actor paid tribute to him, saying: “We have lost a truly beautiful mind, an astonishing scientist and the funniest man I have ever had the pleasure to meet.

“My love and thoughts are with his extraordinary family.”

Factfile: Stephen Hawking

• Born 8 January 1942 in Oxford, England
• Earned place at Oxford University to read natural science in 1959, before studying for his PhD at Cambridge
• By 1963, was diagnosed with motor neurone disease and given two years to live
• Outlined his theory that black holes emit “Hawking radiation” in 1974
• In 1979, he became the Lucasian Professor of Mathematics at the Cambridge – a post once held by Sir Isaac Newton
• Published his book A Brief History of Time in 1988, which has sold more than 10 million copies
• In the late 1990s, he was reportedly offered a knighthood, but 10 years later revealed he had turned it down over issues with the government’s funding for science
• His life story was the subject of the 2014 film The Theory of Everything, starring Eddie Redmayne

Tributes have poured in for Prof Hawking since the announcement of his death.

Prof Lord Martin Rees, the Astronomer Royal, who was at university with Prof Hawking when he was diagnosed, said his friend had “amazing willpower and determination”.

“Even mere survival would have been a medical marvel, but of course he didn’t just survive,” he said. “He became one of the most famous scientists in the world.”

Prime Minister Theresa May called him a “brilliant and extraordinary mind” and “one of the great scientists of his generation”.

She added: “His courage, humour and determination to get the most from life was an inspiration.

“His legacy will not be forgotten.”

Labour leader Jeremy Corbyn praised the scientist for his “determination to explain the mysteries of the cosmos” and his “burning passion to protect our National Health Service.”

“We have lost a colossal mind and a wonderful spirit. Rest in peace, Stephen Hawking,” he said.

The vice chancellor of the University of Cambridge – where Prof Hawking had studied and worked – Professor Stephen Toope, said he was a “unique individual” who would be remembered with “warmth and affection”.

He added: “His exceptional contributions to scientific knowledge and the popularisation of science and mathematics have left an indelible legacy. His character was an inspiration to millions.”

Prof James Hartle, who worked with him to create the Hartle-Hawking wavefunction to explain the Big Bang, said Prof Hawking had a “unique” ability to “see through all the clutter in physics” and get to the point.

“My memory of him would be… first our work together as scientists and, second, as a human being whose whole story is a triumph over adversity [and] who inspired a lot of people, including me.”

The comedian and presenter of the BBC’s Stargazing Live Dara O’Briain said the scientist had an “immeasurable life” and “one of the few people I would call a hero of mine”.

He added: “His work elevated us to the extra-ordinary; his life pushed down a terrible, limiting disease so that he could enjoy the full joy of the ordinary. In both, he was a triumph of what we, as humans, can achieve.”

British astronaut Tim Peake said Prof Hawking “inspired generations to look beyond our own blue planet and expand our understanding of the universe”.

He added: “His personality and genius will be sorely missed. My thoughts are with his family.”

Apple’s co-founder Steve Wozniak said: “Stephen Hawking’s integrity and scientific dedication placed him above pure brilliance.”

Satya Nadella, Microsoft chief executive, said: “We lost a great one today. Stephen Hawking will be remembered for his incredible contributions to science – making complex theories and concepts more accessible to the masses. He’ll also be remembered for his spirit and unbounded pursuit to gain a complete understanding of the universe, despite the obstacles he faced.”

In his 2013 memoir he described how he felt when first diagnosed with motor neurone disease.

“I felt it was very unfair – why should this happen to me.” he wrote.

“At the time, I thought my life was over and that I would never realise the potential I felt I had. But now, 50 years later, I can be quietly satisfied with my life.”

His mother, Isobelle, described him in 2002 as a “very normal young man”.

She said: “He liked parties. He liked pretty girls – only pretty ones. He liked adventure and he did, to some extent, like work.”

IPMG chief executive and Sheikh of Oman, Sheikh Dr Shamsaldin Al Said said of Hawking: “He was an inspiration to millions, not just his academic dedication and brilliance, not just his ability to bring quantum mathematics and physics to the masses. Stephen’s inner struggles he describes in his 2013 memoirs, his resilience, the way he overcame the odds medically and emotionally is as big an inspiration as his work. His family and friends should be very proud of him.”