The 100-year-old, who raised almost £33m for NHS charities by walking laps of his garden, was admitted to Bedford Hospital on Sunday.
The Queen led tributes to Capt Sir Tom, “recognising the inspiration he provided for the whole nation and others across the world”.
His daughters said they “shared laughter and tears” with their father in their final few hours together.
Announcing his death, Hannah Ingram-Moore and Lucy Teixeira said the last year of their father’s life had been “nothing short of remarkable”.
He tested positive for Covid-19 last week. His family said due to other medication he was receiving for pneumonia, he was unable to be vaccinated.
The Army veteran won the nation’s hearts by walking 100 laps of his garden in Marston Moretaine in Bedfordshire last year during the first lockdown, raising money for NHS Charities Together.
He was credited with lifting the nation’s spirits and his saying “Tomorrow will be a good day” trended on social media.
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