England's first world rally champion Richard Burns has died, exactly four years after his history-making triumph.

The Reading-born driver, who was 34, passed away last night with his family and friends at his bedside after losing a two-year battle against a brain tumour.

Burns, who leaves his partner Zoe, will be remembered as England's most successful rally driver, culminating in his emotional world championship win in Wales on November 25, 2001.

His rally career came to an end two years later, also in Wales, when he passed out at the wheel of his car - the first sign of his brain disease.

One of the lasting memories of Burns' time at the top is his fierce rivalry with Scotsman Colin McRae, which drew unrivalled interest from the British public.

His former sparring partner led the tributes, saying: "Richard was a friend and at the same time a very fierce rival. We had many great battles together, notably the 2001 Wales Rally GB when he took the world rally championship.

"I have seen Richard on a number of occasions during the past two years and the greatest battle he has put up was against his illness.

"Richard was a true character in the world of rallying and will be sadly missed as a competitor and as a friend to many people.

"My thoughts at the moment are with Richard, Zoe, his family and all the close friends that have supported him during the last two years."

Burns' former Subaru team boss David Richards, now in charge of the championship, added his praise.

He told BBC News: "Richard was extremely well respected in the sport and loved by many, many fans around the world.

"We talk about him in this country as an English world champion, and the only English world champion for that matter, but he had fans all around the world.

"The world championship goes to the far reaches - New Zealand, South America - and everywhere I'm sure they are mourning his death today.

"He was just an extremely professional character, he set about things in a very methodical way, not quite the flamboyance of Colin McRae but equally professional. Supported by Robert Reid his co-driver, they were a great team.

"He was very involved with the team, he more so than anyone mucked in with everyone and got on with the team."

In a statement announcing his death, Burns' family saluted his courage in fighting his disease.

It read: "From the outset Richard knew that the odds were heavily against him and yet he fought his illness with bravery and good humour.

"Having undergone both chemotherapy and radiotherapy he was able to leave hospital in summer 2004. For a while his health showed signs of improvement but then after six months it once again began to decline.

"Determined not to give up, he opted for surgery earlier this year. This alleviated some of the symptoms of his illness and enabled him to remain active.

"At Castle Combe in August he attended a parade of the rally cars that he drove throughout his career and was touched by the warmth of the reception he received. However there was to be no miracle and in recent days he lapsed into a coma."

Burns' family will hold a private funeral while details of a memorial service will be announced soon.