His wife, Susie Moss, told PA that he “died peacefully at his London home following a long illness.”
“It was one lap too many,” she said. “He just closed his eyes.”
Moss was an active race driver between 1948 and 1962, competing in numerous classifications and winning 212 of the 529 races he competed in.
He was also the F1 Driver’s Championship runner-up on four occasions over the course of his career.
Moss won 16 Grands Prix during his career, including “iconic” victories in Monaco and Germany in 1961, according to F1.
“Moss contested 66 Grands Prix from 1951 to 1961, driving for the likes of Vanwall, Maserati and Mercedes, where he famously formed a contented and ruthlessly effective partnership with lead driver Juan Manuel Fangio,” said F1 in a statement. “All at F1 send our heartfelt condolences to Lady Susie and Sir Stirling’s family and friends.”
Mercedes, one of Moss’s former teams, said in a tweet on Sunday: “Today, the sporting world lost not only a true icon and a legend, but a gentleman. The Team and the Mercedes Motorsport family have lost a dear friend. Sir Stirling, we’ll miss you.”
Moss’s career officially ended after an horrific crash at the Goodwood circuit in southern England on Easter Monday 1962 when he had to be cut out of his car and suffered life-threatening injuries.
It was a month before he was fully conscious and he reluctantly called time on full-time competition at the age of 32.
Undaunted, Moss continued to race in a multitude of events and motoring festivals until he was 81.
He was knighted by Queen Elizabeth II in 2000 for services to motorsport.
Moss retired from public life in January 2018 because of health issues.