Lewis Hamilton, who is a six-time F1 world champion led the tributes to Sterling Moss who won a total of 212 of the 529 races he entered across multiple disciplines during his career.
Moss, who was regarded as one of the greatest drivers in motor sport's history despite never winning the F1 title, died aged 90 following a long illness.
"Today we say goodbye to Sir Stirling Moss, the racing legend," Hamilton wrote on Instagram.
"I think it's important that we celebrate his incredible life and the great man he was.
"I certainly will miss our conversations. To be honest, it was such a unusual pairing, our friendship. Two people from massively different times and backgrounds but we clicked and ultimately found that the love for racing we both shared made us comrades.
"I am truly grateful to have had these special moments with him. Sending my prayers and thoughts to his family. May he rest in peace".
Three-time world champion Jackie Stewart, who came into the sport shortly after Moss' retirement, said he looked up to him as he made his own way in the sport.
"I think he's probably the best example of a racing driver there's ever been," Stewart told BBC Five Live.
"He walked like a racing driver, he talked like a racing driver, he behaved like a racing driver should behave.
Ireland's former F1 team boss Eddie Jordan said: "You say he's one of the greatest drivers not to win the world championship but actually he was one of the greatest drivers ever. He was the one person that transcended the sport."