The versatile former Leeds United player Paul Madeley has died at the age of 73, the club have announced.

Madeley made his Leeds debut in 1964 and spent his entire career through to 1980 with the West Yorkshire side, winning two First Division titles, the FA Cup and the League Cup under the manager Don Revie. He also played 24 times for England during the 1970s.

His family, in a statement, said: “Paul was a much-loved husband, father and brother and the family are extremely proud of his achievements. Don Revie christened him his ‘Rolls-Royce’ and to us he was just that – a class act as a husband and father who always had time for everyone.”

Paul Madeley vies for the ball with Liverpool’s Kevin Keegan during a fourth-round match in the 1972 League Cup. Photograph: Liverpool FC/Liverpool FC via Getty Images

Leeds United tweeted a tribute, adding: “Everyone at #LUFC is deeply saddened to hear of the passing of #LUFC legend Paul Madeley. Our thoughts are with his family and friends.”

The club’s owner Andrea Radrizzani tweeted: “Incredibly sad to hear about the passing of a Leeds legend. RIP Rolls-Royce.”

Madeley’s first season ended with the club winning the old Second Division title, and he went on to play a major role in the most successful era in the club’s history. During his Elland Road career, the Whites won the First Division in 1969 and 1974, as well as finishing runners-up five times.

They also won the 1968 League Cup, the 1972 FA Cup and were beaten in two European finals – the European Cup Winners’ Cup in 1973 and the 1975 European Cup.