Professor Hawking's children, Lucy, Robert and Tim said in a statement: "We are deeply saddened that our beloved father passed away today.
"He was a great scientist and an extraordinary man whose work and legacy will live on for many years.
"His courage and persistence with his brilliance and humour inspired people across the world.
"He once said, 'It would not be much of a universe if it wasn't home to the people you love.'
"We will miss him forever."
Hawking used his position as one of the world’s most famous scientists as a platform to discuss a wide range of issues, from the existence of extraterrestrial life to the nature of philosophy. He skyrocketed to public prominence in 1988, when he published his first general-audience book, A Brief History of Time: From the Big Bang to Black Holes. The cosmology treatise has sold approximately 10 million copies worldwide, making it one of the best-selling science books of all time.