"Underneath what could be a fierce exterior, and a manner some undoubtedly found intimidating, beat a loving, kind and compassionate human heart", he added.
In a statement announcing his death, Lord Prescott’s wife and two sons said he had been in a care home recently living with Alzheimer’s.
"We are deeply saddened to inform you that our beloved husband, father and grandfather, John Prescott, passed away peacefully yesterday at the age of 86," they said.
“He did so surrounded by the love of his family and the jazz music of Marian Montgomery.”
Prime Minister Sir Keir Starmer said he was deeply saddened to hear of Lord Prescott's death, and called him a "true giant" of the Labour movement.
In a career that stretched back over half a century, Lord Prescott was first elected as MP for Hull East in 1970 and went on to hold the seat for almost 40 years.
Lord Prescott joined the shadow cabinet in 1983 with responsibility for transport.
Between 1997 and 2007, he was deputy to Sir Tony and received a peerage in 2010.
His retirement from the Commons, and break from frontline politics, did not last long as five years later he was advising Ed Miliband and, in 2017, supporting Jeremy Corbyn.
Lord Prescott ceased to be a member of the House of Lords in July of this year due to non-attendance, having only spoken once in the chamber since suffering a stroke in 2019. He had not voted since February 2023, according to official records.
Born in Prestatyn, Wales, Lord Prescott left school at 15 and worked as a steward in the Merchant Navy. He then studied at Ruskin College in Oxford, before entering politics.
"John spent his life trying to improve the lives of others, fighting for social justice and protecting the environment, doing so from his time as a waiter on the cruise liners to becoming Britain’s longest serving Deputy Prime Minister," his family said.
"John dearly loved his home of Hull and representing its people in Parliament for 40 years was his greatest honour."
Lord Prescott married his wife, Pauline, in 1961 and they had two children together - David and Jonathan.