David Cameron said: ‘A great light has gone out in the world. Nelson Mandela was a hero of our time.’
The Prime Minister has signed a book of condolence at South Africa House in London this morning.
In a message, he said Mr Mandela 'will inspire generations to come'.
He wrote: 'Your cause of fighting for freedom and against discrimination, your struggle for justice, your triumph against adversity - these things will inspire generations to come.'
'And through all of this, your generosity, compassion and profound sense of forgiveness have given us all lessons to learn and live by.'
He ended his message with a quote - 'Blessed are the peacemakers for they shall be called the children of God.'