Both men are considered the two greatest footballers in history and have a similarly modest background.
“I lost a great friend of mine and the world lost a legend,” Pele wrote on Twitter, who turned 80 last month.
“There’s still a lot to say, but for the time being, give God strength to your family members. I hope we’ll play football together in heaven one day.”
While Maradona – at the age of 25 – was key in Argentina’s 1986 World Cup triumph, Pele exploded as a teenager and helped his homeland, Brazil, to his success in the 1958 race.
Pele also played in two other World Cup championships, in 1962 and 1970, in addition to his breakthrough career at the Brazilian club Santos and then at the New York Cosmos, the now-defunct North American Football League.
In 2000, Pete and Maradona were appointed by FIFA, the international football governing body, as a co-player with Century.
Brazilian legend was among a number of high-profile names that paid tribute to Maradona on social media after the news was confirmed.
Argentine President Alberto Fernandez has declared three days of national mourning after Maradona’s death, while UEFA President Aleksander Čeferin says there will be a minute’s silence before all the European matches of the week.