Tributes have flooded in for the R&B and soul singer D’Angelo, who has died aged 51 after a pancreatic cancer diagnosis.

In a statement, his family wrote that the star, whose real name was Michael Eugene Archer, left behind a legacy of extraordinarily moving music and asked fans to celebrate “the gift of song that he has left for the world.”

The influential singer was known for pioneering neo-soul, a genre blending R&B with other types of music, including hip-hop and jazz.

His three albums won four Grammy Awards. The music video for his hit song Untitled (How Does It Feel) became notorious for its smouldering, single-shot performance, where D’Angelo appeared to be performing naked.

The shining star of our family has dimmed his light for us in this life, his family said in a statement obtained by CBS News, the BBC’s US media partner.

Fellow musicians Beyoncé, Nile Rogers and Lauryn Hill were among those paying their respects.

Singer Beyoncé thanked D’Angelo for his music on her website. You were the pioneer of neo-soul, and that changed and transformed rhythm and blues forever, she wrote. We will never forget you.

Writing about his first meeting with D'Angelo, guitarist and producer Rogers recalled having encouraged the late star - who was then on the way up - to put out his material as it was perfect.

About a year later I heard one of those songs on the radio. It was genius and it was exactly what he had played for me, wrote Rogers. I know... I still have the original cassette.

Singer and rapper Hill, who worked with D'Angelo at the start of his career, shared a similarly lengthy and personal reflection, saying his beauty and talent were not of this world.

You imaged a unity of strength and sensitivity in Black manhood to a generation that only saw itself as having to be one or the other, she wrote.

Fellow rappers Doja Cat and Missy Elliot also paid their respects, as well as singers Jill Scott and Jennifer Hudson.

A true voice of soul and inspiration to many brilliant artists of our generation and generations to come, Doja Cat wrote on X.

Rest Peacefully D'Angelo, posted Elliot.

Scott expressed admiration for D'Angelo without having met him. I never met D'Angelo but I love him, respect him, admire his gift.

Hudson noted, we lost a true original today. D'Angelo, your voice will live on forever. Rest well, King!!!

Tyler the Creator reflected on how his musical DNA was shaped by D'Angelo's work.

D’Angelo began his career as a songwriter and worked alongside big names in music like Lauryn Hill and The Roots.

He rose to fame in the 1990s with his debut album Brown Sugar. His song, Lady, from that album reached the number 10 spot on Billboard’s Hot 100 chart in 1996 and earned him multiple Grammy nominations.

The son of a Pentecostal minister, D'Angelo was born in Richmond, Virginia, and taught himself to play piano at the age of three.

He established himself with his 1995 debut album, also titled Brown Sugar, and won two Grammys for the 2000 follow-up, Voodoo.

Sadly, his journey was not without struggles; D'Angelo faced issues with alcoholism and nearly lost his life in a car crash in 2005.

After years away from the spotlight, he released Black Messiah in 2014, inspired by societal events concerning racial injustice.

The Voodoo album, which topped US charts, was recognized by Rolling Stone magazine as one of the greatest albums of all time.

D'Angelo was working on his fourth album with Raphael Saadiq at the time of his passing.