His publisher, Curtis Brown, released a statement on social media saying Denton died surrounded by his family on Monday.

Denton was the author and illustrator of more than 30 of his own books, including the Gasp! series, which was adapted for screen.

He also collaborated with authors including Mem Fox, Paul Jennings and Gillian Rubinstein.

Denton's children paid tribute to the illustrator whose work they said "gave joy to millions of children around the world".

"And after all those stories and all those lives he touched, he always came home to us.

"We are so grateful that his stories will continue to live on, bringing wonder, laughter and comfort to generations yet to come and most especially to his beloved grandchildren, whoever will grow up knowing him through the magic he left behind."

Andy Griffiths, the author of the Treehouse series and a longtime friend and collaborator with Denton, said: "Working – and playing – with Terry over three decades has been an incredible honour and a pure delight.

"I've never laughed so hard as I did when working with him, whether in the writing room or on stage. He was a true clown and much beloved – both in real life and as a character in the Treehouse series. Jill and I will miss him greatly."

Griffiths told the Guardian in 2023 that he owed much of his success to the talented illustrator. When he first searched for a publisher, he had little luck but one took a punt on a textbook that was published in 1993 and was illustrated by Denton.

Griffiths said that when they met for the first time, they recognised a streak of madness in each other that would fuel the next 30 years of work together.

Denton is survived by his wife, Kristen, his children Max, Imogen and Eve, and his grandchildren Georgia, Lucy, Charlie, Alfie and Felix.