The entertainer, best known as one third of the popular 1970s show The Goodies, and I'm Sorry I Haven't A Clue, died on Sunday.
Goodies co-star Bill Oddie called him a "true visual comic and a great friend".
The third member of the trio, Graeme Garden, said he was "terribly saddened by the loss of a dear colleague and close friend of over 50 years".
"He was a funny, sociable, generous man who was a delight to work with. Audiences found him not only hilarious but also adorable."
Oddie recalled some of the Goodies' sketches in his tribute tweet, adding: "No-one could wear silly costumes or do dangerous stunts like Tim. I know it hurt cos he used to cry a lot. Sorry Timbo."
Brooke-Taylor's career spanned more than six decades and his comedic roots lay in the Cambridge Footlights Club, which he joined in 1960.
Membership of the Footlights brought him into contact with both Garden and Oddie as well as future Monty Python stars John Cleese and Graham Chapman.
Cleese paid tribute by saying: "Tim was one of my very oldest friends, and one that I used to love performing with. He did 'frightened' better than anyone...".
And another member of Monty Python, Eric Idle, revealed that his career was started in 1963 when he was auditioned by Brooke-Taylor for an annual comedy revue.
Brooke-Taylor started his own broadcasting career on BBC radio, before forming The Goodies with Garden and Oddie and later becoming a long-standing panellist on Radio 4's I'm Sorry I Haven't A Clue.
A host of comedians have paid tribute to Brooke-Taylor on social media.