Jochen Mass, who won the 1975 Spanish Grand Prix for McLaren, has died at the age of 78.
The German passed away on Sunday because of complications following a stroke he suffered in February, his family announced.
Mass, who competed in 114 Formula 1 grands prix and secured eight podium finishes, also won the Le Mans 24 Hours with Switzerland-based Sauber in 1989.
"Today we mourn the loss of a husband, father, grandfather and a racing legend," his family said in a statement.
"Beyond mourning his death, we also celebrate his incredible life. A life that he loved sharing with all of you. A life that he lived to the absolute fullest.
"He is racing with all his friends again."
Mass was the other driver in Gilles Villeneuve's fatal accident during qualifying for the 1982 Belgian Grand Prix at Zolder. Ferrari's Villeneuve came across Mass' March going slowly and a misunderstanding led to a collision.
Mass was a mentor and driver coach on the Mercedes young driver programme during his final three years at Sauber, and helped Michael Schumacher before the future seven-time world champion entered F1.
Mass finished his career with 32 world championship victories in sportscar racing with Alfa Romeo, Porsche and Sauber-Mercedes.
From 1993 to 1997, Mass was a co-commentator on F1 for the German broadcaster RTL.
F1 boss Stefano Domenicali said Mass, pictured here in 2019, "was a wonderful person who embraced life"