The former Stoke and Leicester City star is widely regarded as one of the best keepers of all time and his save to deny Pele in 1970 is one of the most famous stops in history.
He was part of the famous side who helped the Three Lions lift the Jules Rimet trophy for the first and only time at Wembley almost 53 years ago.
Confirming his death today, his family said in a statement: "It is with great sadness that we announce that Gordon passed away peacefully overnight.
"We are devastated to lose him but we have so many happy memories and could not have been more proud of him.
"We would ask that the privacy of the family is respected at this time."
Banks revealed in 2015 he was fighting kidney cancer for a second time, having lost a kidney to the disease 10 years earlier.
Gordon Banks' agent Terry Baker, of A1 Sporting Speakers of Christchurch, Dorset, today said: "It's a sad day but we knew it was coming.
"We knew a couple of weeks ago that he wasn't going to last that much longer. But it is still a bit of a shock when it happens. His family were with him and maybe rest in peace.
Pele was very, very fond of him. They were best of friends as well.
"He clung on for years and he had been ill for years and years with one thing or another. He got to 81 and until a couple of weeks ago he was still going out for walks.
"He was a really, really nice person and was obviously a great goalkeeper.
"Pele was very, very fond of him. They were best of friends as well.
"Pele always said that he won three World Cups and yet all anyone in England ever asked him was about Gordon Banks making that save from him.
"Never a day passed by without him (Banks) being asked about it but he never minded and he would tell anybody about it.
"The rest of the team who won the World Cup will be remembered for being the only team to have won the World Cup but he never gets mentioned in that because of that 1970 save."
He is survived by his wife Ursula, whom he met during his national service in Germany in 1955, and their three children, Robert, Wendy and Julia.
FOOTBALL LEGEND
Banks is best remembered for an unbelievable save against Brazil legend Pele.
The striker admitted he shouted "goal" as he powered a header towards the bottom corner only for Banks to miraculously dive and scoop it one-handed over his bar.
Pele was left in disbelief at the stop.
Banks later remarked: "They won't remember me for winning the World Cup. It will be for that save."
The day before the match Banks was informed that he had been awarded an OBE.
He was undisputed first choice for the 1966 World Cup squad, and was Fifa's Goalkeeper Of The Year" for six straight years between 1966 and 1971.
Banks' death means only seven of the starting '66 final XI are still alive: George Cohen, Jack Charlton, Nobby Stiles, Bobby Charlton, Martin Peters, Roger Hunt, Geoff Hurst.
MOVING TRIBUTES
Tributes poured from fellow football stars after the sad news broke on Tuesday morning.
Sir Geoff Hurst, '66 World Cup hatrick hero, tweeted condolences: "Very sad to hear the news that Gordon has died. One of the very greatest.
"Thinking especially of Ursula, Julia, Wendy and Robert. Sad for football, Stoke City and for England fans. Will be very sadly missed."
Former goalkeeper Peter Shilton said: "I’m devastated – today I've lost my hero our condolences to his family rip Gordon".
Presenter and former England striker Gary Lineker tweeted: "Oh no. Gordon Banks, an absolute hero of mine, and countless others, has died. @England's World Cup winner was one of the greatest goalkeepers of all time, and such a lovely, lovely man. #RIPGordon".
I’m devastated – today I've lost my hero our condolences to his family rip Gordon
England manager Gareth Southgate said on the Football Association website: "I am deeply saddened to hear of Gordon's passing.
"An all-time great for England, I was privileged enough to be in his company on a number of occasions.
"It was particularly special to be with him at a Football Writers' tribute dinner last year and wish him well on his 80th birthday.
"Gordon spoke to the room about that incredible save from Pele against Brazil back in 1970 and moments like that from his remarkable World Cup-winning career will continue to linger long in the memory.
"On behalf of everyone connected with England, I send my condolences to his wife Ursula, his family and friends."
England and Manchester City winger Raheem Sterling tweeted: "Of course there was THAT save, but its so much more we are mourning today. RIP Gordon Banks. @England legend, your legacy will live on. All my thoughts with the family."
Leicester City and England defender Harry Maguire wrote on Twitter: "A World Cup winner, a legend. RIP Gordon Banks."
Ex-England striker Michael Owen tweeted: "Sad to hear that Gordon Banks has passed away at the age of 81.
"Had the pleasure of meeting him a number of times and he was one of the game's true gentlemen, not to mention one of the greatest goalkeepers of all time. Rest In Peace."
Very sad to hear the news that Gordon has died. One of the very greatest.
When Banks' career was cut short at age of 34 after car crash nearly blinded him
GORDON BANKS' career was cut short after a car crash nearly blinded the World Cup-winning keeper.
Banks was driving home from Stoke's Victoria Ground in his Ford Consul, after getting treatment on a minor injury in October 1972.
But as he went to overtake another vehicle, the he was involved in a head-on collision with a van.
He woke up in hospital and surgery had been carried out on his eyes.
Shards of glass had perforated his right eye and damaged the retina and he knew then that his playing days were numbered aged just 34.
He was given a 50-50 chance of seeing again in his right eye.
He later recalled: "One day I leaned over to pick up a cup of tea on my bedside table and was shocked to grasp thin air. That’s when the reality of my situation hit home.
"I remember thinking if I can’t even get the angle right to pick up a cup of tea, how will I ever judge the flight and speed of a football again?"
After getting himself back to fitness throughout the rest of the season, Banks chatted to Stoke manager Tony Waddington and told his boss it was over.
Four years later, Banks went on to play in the North American Soccer League, where many of Europe's most famous exports including George Best and Franz Beckenbauer played out the twighlights of their careers.
Banks played 37 games for the Fort Lauderdale Strikers before retiring with 558 club appearances to his name and 73 England caps.
Banks made 510 league appearances for Chesterfield, Leicester and Stoke and won 73 senior international caps.
He was one of the stars of England's 1966 World Cup triumph against West Germany.
He will always be remembered for a remarkable save he made to deny Brazil superstar Pele four years later in Mexico.
There was also a memorable stop for the Potters en route to them winning the 1972 League Cup, Banks keeping out a penalty from fellow 1966 hero Geoff Hurst in the semi-finals against West Ham before Chelsea were overcome in the final.
Banks, by then an OBE, ended that season as The Football Writers' Association Footballer of the Year, but his playing days were almost done.
He lost the sight in his right eye after being injured in a road accident in 1972 and retired at the age of 34 as a result.
Banks still went on to have a short, successful spell in goal for American side Fort Lauderdale Strikers, despite his visual impairment.
He coached at Stoke and Port Vale and was boss of non-league Telford, with his sacking in 1980 after just one full season in charge convincing him he did not want to carry on in management.
Banks was subsequently involved in the running of a Leicester-based corporate hospitality company for a period, and became a member of the three-man football pools panel.
In 2002, Stoke named him as club president, and a statue of a smiling Banks holding the Jules Rimet trophy aloft was unveiled at their ground in 2008, an occasion attended by his old friend and rival Pele.
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