Cooper, also the first boxer to be knighted and receive the title 'Sir', died at his son's house in Oxted, Surrey, in southern England, after a prolonged illness.
Muhammad Ali, who was famously knocked down by Cooper during a 1963 non-title fight at the Wembley Stadium, in a statement condoling the death of the boxer said, "I am at a loss for words over the death of my friend, Henry Cooper...Henry always had a smile for me; a warm and embracing smile," Ali said. "It was always a pleasure being in Henry's company. I will miss my ole friend. He was a great fighter and a gentleman. My family and I extend our heartfelt sympathies to his family and loved ones."
Cooper was the winner of British, European and Commonwealth heavyweight titles but surprisingly never won a World Crown. In a professional career that spanned more than 16 years he had an enviable record of 40-14-1.
He retired from professional boxing in 1971 and was knighted by Queen Elizabeth II in the year 2000.