Clive Burr (Handout)

British rockers Iron Maiden have paid tribute to their former drummer Clive Burr after he lost his battle with multiple sclerosis on Tuesday.

The percussionist died in his sleep at the age of 56 after a long struggle with the debilitating illness.

Burr joined Iron Maiden from fellow rock band Samson in 1979 and played on their first three albums, including their breakthrough record The Number of the Beast.

He left the band in 1982 due to personal issues and the stress of heavy touring schedules, but continued his rock career with several other bands, including alongside former Twisted Sister star Dee Snider in Desperado.

Following news of Burr's death, Iron Maiden frontman Bruce Dickinson said, "I first met Clive when he was leaving Samson and joining Iron Maiden. He was a great guy and a man who really lived his life to the full. Even during the darkest days of his M.S., Clive never lost his sense of humour or irreverence. This is a terribly sad day and all our thoughts are with (Burr's wife) Mimi and the family."

Bassist Steve Harris added, "This is terribly sad news. Clive was a very old friend of all of us. He was a wonderful person and an amazing drummer who made a valuable contribution to Maiden in the early days when we were starting out. This is a sad day for everyone in the band and those around him and our thoughts and condolences are with his partner Mimi and family at this time."