Angelo Dundee, who is best known for the more than two decades he spent as boxer Muhammad Ali's trainer, died aged 90.

Dundee worked with 15 world champions, including Sugar Ray Leonard, George Foreman and Jimmy Ellis but it is his work with Ali that stands out the most.

Dundee's work spanned six decades and he was inducted into the International Boxing Hall of Fame in 1994, cementing his legacy as an invaluable asset to some of the most decorated boxers of all time.

"Angelo died surrounded by family and friends," his family said in a statement. "He was very happy that he got to celebrate Ali's birthday earlier this year and also that he got to go to the (Hall of Fame).

"He still had much to do, but led a full and extraordinary life."

Dundee, noted for his knack for motivating and challenging the best of boxers, passed away at his home in Tampa, Florida.

While working with Ali for the majority of the boxing great's career, Dundee trained 15 world champions in total, including Leonard and George Foreman.