A spokesman for the event said the rider had gone off the road on a corner and crashed into a tree, dying instantly.

Joey was a brilliant sportsman and a true man of the people

David Trimble and Seamus Mallon

The Province was in mourning on Sunday for one of its sporting heroes, who was awarded the MBE for his motorcycling achievements and the OBE for his charity work.

Mr Dunlop had been awarded the freedom of his home town of Ballymoney, County Antrim just two weeks ago.

"His skill on a motorbike we will never see the like of again," said his manager Davy Wood.

"I will remember his individuality and determination. He never was the superstar that drove a fast car or anything like that. His wife and family mattered most to him."

As well as being a world renowned sportsman, Mr Dunlop was also well known for his charity work in Romania and the Balkans.

David Trimble: Saddened by the news

Northern Ireland's First Minister David Trimble and Deputy First Minister Seamus Mallon spoke of their sadness at the news.

In a statement they said: "We were shocked and saddened on hearing the news that Northern Ireland's premier motor cycle ace, Joey Dunlop OBE, MBE was killed this afternoon while racing in Estonia.

"Everyone in Northern Ireland, not just fans of motor sport, has followed Joey's glittering career with tremendous pride and satisfaction.

"In particular, his recent string of successes in the Isle of Man TT gave us all something to be proud of.

"Five times world champion, Joey was a brilliant sportsman, a true man of the people and a wonderful ambassador for Northern Ireland.

"It will be hard to find his like again. We send our deepest condolences to his grieving wife Linda, his children, brother Robert and other members of his grieving family circle."

Mr Dunlop leaves five children, Julie, Donna, Gary, Richard and Joanne.

'Shocked and saddened'

Michael McGimpsey, Northern Ireland Minister for Culture, Arts and Leisure, has also spoken of his shock on hearing news of the tragedy.

He said: "I am shocked and saddened to hear of the untimely death of this great Ulsterman who I was talking to only two weeks ago.

"I do not have full details of the circumstances but my thoughts are with his wife Linda and his family and my prayers go to them."

Mr Dunlop started racing in 1969 and won 26 Isle of Man TT races, the first coming in 1977.