Arguably the greatest footballer of all time, he is the only player to have lifted the World Cup three times, winning sport’s biggest prize in 1958, 1962 and 1970.
Pele faced health problems in recent years and spent Christmas in hospital, after being readmitted late in November.
The 82-year-old died on Thursday “due to the failure of multiple organs, a result of the progression of colon cancer associated with his previous clinical condition”, according to a statement from the Albert Einstein Hospital in Sao Paulo.
On Thursday night the Wembley arch turned yellow and green in his memory, as football mourned a true icon.
In 2018, Pele tweeted: “I don’t have many regrets as a footballer but I wish I had played at Wembley - even once, even in a friendly.”
Tributes have flooded in since the news of Pele’s death, with messages posted on social media from current stars including Kylian Mbappe and Cristiano Ronaldo.
In Pictures | Pele
“Before Pele, ‘10’ was only a number,” Neymar wrote. “I read this phrase somewhere, sometime in my life.
“But this phrase, beautiful, is incomplete. I would say that before Pele, football was solely a sport.
“Pele changed everything. He transformed football into art, into entertainment. He gave voice to the poor, to black people, and most importantly: He gave visibility to Brazil.
“Football and Brazil elevated their status thanks to the King! He is gone, but his magic will stay.
“Pele is eternal!!”