BBC News
Published
image captionThe duke on a visit to a Luton hospital in 2013
Despite the DoE's many achievements in a long life of service, some will remember him as a man who was often blunt, sometimes to the point of giving offence.
His supporters always said his sense of humour was misunderstood and his remarks often taken out of context. And he himself was not unaware of his reputation - he once described himself as a "cantankerous old sod".
Here are some of his most well-known lines, in chronological order. You may find some of the quotes below offensive.