Charlie Sifford, the first African-American golfer on the US PGA Tour and in the World Golf Hall of Fame, has died aged 92.

Sifford, a pioneer in breaking the colour barrier, was a long-time friend and mentor to Tiger Woods, the 14-time major champion who considered him a family member and paid tribute to him on Twitter.

“Terrible loss for golf and me personally,” Woods wrote.

“My grandfather is gone and we all lost a brave, decent and honorable man. I’ll miss u Charlie.”

Sifford, who died on Tuesday, was also praised by US President Barack Obama, who last November presented Sifford with the Presidential Medal of Freedom, an award whose only pro golf recipients had been Jack Nicklaus and Arnold Palmer.

“Michelle and I offer our condolences on the passing of golf legend Charlie Sifford,” Obama said in a statement.

“Charlie was the first African-American to earn a PGA tour card – often facing indignity and injustice even as he faced the competition.

“Though his best golf was already behind him, he proved that he belonged, blazing a trail for future generations of athletes in America.

“I was honoured to award Charlie the Presidential Medal of Freedom last year for altering the course of the sport and the country he loved. Our thoughts and prayers are with his family, his friends, and his fans.”

Sifford, who became a pro golfer after serving in the US Army in World War II, serving in the bloody battle for Okinawa, became the first black golfer on the US PGA Tour in 1960 and won two tour events, the 1967 Greater Hartford Open and 1969 Los Angeles Open. He was inducted into the Hall of Fame in 2004.

“Charlie Sifford was a pioneer in our sport, breaking down barriers and paving the way for everyone able to compete at the highest level to succeed,” US PGA Tour commissioner Tim Finchem said.

“Charlie’s induction into the World Golf Hall of Fame put an exclamation point on a remarkable career, where he proved to be a tenacious competitor and an outstanding player. We truly mourn his passing.”

Nicklaus, who won a record 18 major titles, once said of Sifford, “Charlie won tournaments, but more importantly, he broke a barrier. What Charlie Sifford brought to this game has been monumental.”

Sifford fought racial insults and death threats during his career, which began a year before Jackie Robinson broke the racial barrier in Major League Baseball in 1947.