(CNN)Gordon Banks, one of the world's most famous goalkeepers, passed away Tuesday at the age of 81.
Gordon Banks: England's World Cup-winning goalkeeper dies aged 81
Banks was part of the England team that won the 1966 World Cup and was credited with making the "Save of the Century" when he denied Brazilian great Pele at the tournament four years later.
His death was confirmed by his former club Stoke City which tweeted a statement from his family.
"It is with great sadness that we announce that Gordon passed away peacefully overnight," the statement read.
"We are devastated to lose him but we have so many happy memories and could not have been more proud of him."
Banks, who revealed in 2016 that he was battling kidney cancer for the second time, was widely considered as one of the greatest goalkeepers of his generation.
He was named Fifa goalkeeper of the year six times and earned 73 caps for England.
Banks was a hugely loved and respected figure within the world of football.
He played in every game of England's run to the 1966 World Cup final which culminated in a 4-2 victory over West Germany.
But it was four years later in Guadalajara, Mexico, that Banks produced one of football's most historic saves.
Facing the legendary 1970 Brazilian side, he produced an astonishing save to prevent Pele's header from finding the net.
Recalling the save years later, Banks said: "As I got to my feet, Pelé came up to me and patted me on the back. 'I thought that was a goal,' he said. 'You and me both,' I replied. The TV footage of the game shows me laughing as I turn to take up my position for the corner. I was laughing at what Bobby Moore had just said to me. 'You're getting too old Banksy, you used to hold on to them.' Like hell I did."
On Tuesday, Pele wrote his own heartfelt tribute to Banks, the two having become inextricably linked through that moment in Mexico.