Three Lions legend Venables has died at the age of 80 after a long illness.
Gareth Southgate led tributes to Venables, who famously consoled him after he missed a penalty as England crashed out of Euro 96.
Southgate said: “Any player will have great affinity with the manager that gave them their opportunity, but it was quickly evident playing for Terry Venables that he was an outstanding coach and manager.
“He was open minded, forward thinking, enjoyed life to the full and created a brilliant environment with England that allowed his players to flourish and have one of the most memorable tournaments in England history.
“A brilliant man, who made people feel special, I’m very sad to hear of his passing and my thoughts are with Yvette and all of his family.”
Venables’ passing has been confirmed by the League Managers Association, but his cause of death is not yet known.
His family said: “We are totally devastated by the loss of a wonderful husband and father who passed away peacefully yesterday after a long illness.
Lineker said: “Devastated to hear that Terry Venables has died.
“The best, most innovative coach that I had the privilege and pleasure of playing for.
“He was much more, though, than just a great manager, he was vibrant, he was charming, he was witty, he was a friend.
“He’ll be hugely missed. Sending love and condolences to Yvette and the family. RIP Terry.”
Shearer said: “Extremely sad news the great Terry Venables has passed away.
“RIP Boss. I owe you so much. You were amazing.”
Neville said: “So sorry to hear the news of my very first England coach, Terry Venables.
“A man who gave me a chance to play for my country and became without a shadow of doubt my number one England coach in my whole career.”
Seaman said: “Dear Terry, you’ll be sadly missed, you told me I was your England Number one and I’ll never ever forget that.”
Collymore said: “Incredibly sad to hear of the passing of Terry Venables today.
“Our thoughts are with Terry’s family and friends at this sad time.”
“He made my dream come true of representing my country which I could never really thank him enough for.
“Vivacious, funny, a superb coach, multi talented, a man who really lived life to its fullest. Rest in Peace, Terry.”