Prince Michael Jackson has paid tribute to his grandfather Joe Jackson following his death, telling him to “fly free”.

The 21-year-old – son of the late King of Pop Michael Jackson – posted the message on Twitter after the patriarch of the famous family died at the age of 89.

Sharing a photograph of himself and his grandfather, Prince wrote: “This man is and always will be an example or sheer willpower and dedication.

“He didn’t choose the path that was the easiest but he choose the path that was best for his family.

“You taught me to take pride in the Jackson name and what it really means, you taught me dedication in the face of adversity and most of all you showed me strength and fearlessness.

“There is and never will be someone like you.

“Fly free and until we meet again The Hawk.”

His message came after US gossip site TMZ reported that Joe Jackson had died in a US hospital in the early hours of Wednesday morning.

The father of Michael, Janet and their eight siblings had suffered poor health in recent years, suffering a stroke and three heart attacks in 2015, and had been battling cancer for some time before his death.

His grandson Taj also posted a tribute on Twitter.

He wrote: “Disgusted by some of the comments I’m reading about my grandpa Joe by those who didn’t even know him. Please don’t just regurgitate what you were spoon fed by the press.

“Joe was loved by our ENTIRE family and our hearts are in pain. Let us grieve without the nastiness.#ripthehawk.”

The Rev Jesse Jackson tweeted: “Joe Jackson, brother beloved, patriarch & creator of one of the most talented American musical dynasties.

“We will remember him as long as his family’s music plays. Offering prayers and condolences to the Jackson family. #RIP #NeverCanSayGoodbye #JoeJackson.”

La Toya Jackson thanked her father for making the family one of the most famous in the world.

She wrote on Twitter: “I will always love you!

“You gave us strength, you made us one of the most famous families in the world.

“I am extremely appreciative of that, I will never forget our moments together and how you told me how much you cared.

“#RIP Joe Jackson.”