Her Majesty said she was “deeply saddened” at the passing of the South African clergyman, who led the fight against apartheid alongside Nelson Mandela.
Boris Johnson, Tony Blair, Barack Obama, the Archbishop of Canterbury and the Dalai Lama were among those paying tribute.
Tutu, who was awarded the 1984 Nobel Peace Prize, died peacefully yesterday at the Oasis Frail Care Centre, in his home city of Cape Town.
The Queen said: “I am joined by the whole Royal Family in being deeply saddened by the news.
I remember with fondness my meetings with him and his great warmth and humour.
Archbishop Tutu's loss will be felt by the people of South Africa, and by so many people in Great Britain, Northern Ireland and the Commonwealth, where he was held in such high affection and esteem.
A man who tirelessly championed human rights in South Africa and across the world.”
The Duke and Duchess of Sussex said: He was an icon for racial justice and beloved across the world.
“It was only two years ago that he held our son, Archie, while we were in South Africa.
The Prime Minister said the Archbishop would be remembered for his spiritual leadership and irrepressible good humour”.
He added: He was a critical figure in the fight against apartheid and in the struggle to create a new South Africa.
Former PM Mr Blair said: He made an immense contribution to the ending of apartheid and South Africa's transition to democracy.
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