Tributes have been paid to Joe Bugner, the British heavyweight who took Muhammad Ali and Joe Frazier the distance in a colourful career that spanned 32 years in the ring, after his death at the age of 75.

Bugner twice held the British and Commonwealth heavyweight titles and was a three-time European heavyweight champion during boxing’s golden age in the 1970s. However, a legitimate world title belt always eluded him.

Frank Bruno, who beat Bugner during one of his many comebacks in 1987, called the news of his death “a sad day for boxing”. “We spent quite a bit of time together around the time of my fight with him,” Bruno said. “He was a character and played Mr Bad Guy when we did the promotion. He had a long career and fought many great heavyweights.”

Frank Warren, who staged Bugner’s fight with Bruno at White Hart Lane, also paid his respects. “He participated in the first fight I did on ITV – a great man who will be missed. May he rest in peace,” the promoter said.

Joe Bugner (right) at a news conference with Joe Frazier before their bout in London in 1973. Photograph: AP

Bugner, who was born in Hungary in 1950 before his family fled six years later after the Soviet invasion, was not always a favourite with the British public. Defeating the popular Henry Cooper – Our ’Enry, as he was known – at Wembley in a controversial decision in 1971 was a factor, as was his defensive style. A move to Australia, after which he became known as “Aussie Joe”, further turned British fans against him.

At his best, however, Bugner was a tough and brave fighter who was prepared to slug it out with anyone. He fought 24 times between 1970 and 1972 – including a layoff after a points defeat against Larry Middleton when he fought on for seven rounds with a broken jaw that needed surgery.

After establishing himself as world class, Bugner then took Ali and Frazier the distance within five months of each other in 1973. He then fought Ali again for his world title in 1975, losing on points in the tropical heat of Kuala Lumpur.

During his 83-fight career, Bugner also shared the ring with other notable heavyweights such as Earnie Shavers and Ron Lyle. However, he always believed that Ali was the greatest that he faced.

Joe Bugner trains at a gym in Santa Monica in 1980. Photograph: Nik Wheeler/Corbis/Getty Images

Bugner said: “In the first fight I caught him with a beautiful right hand and he said: ‘Damn, good punch white boy, do it again!’ Now, I was only 22 years old, which meant I was stupid enough to try it and he caught me with four solid punches to the jaw. The reactions, the speed, the timing, were brilliant.”

Bugner hung up his gloves for the first time in 1976, but he was unable to shake the itch. There were numerous comebacks over the next 23 years, and even a world title of sorts when, at the age of 48, he defeated James “Bonecrusher” Smith for the unheralded WBF belt in 1998. A year later he finally retired for good after beating Levi Billups.

Outside boxing, Bugner played golf with Dean Martin and was good friends with Tom Jones. He also appeared in films including the 1994 action movie Street Fighter and was an expert adviser for the Russell Crowe film Cinderella Man. However, his relationship with Crowe ended sourly after he was dropped from the film.

Bugner also appeared on I’m a Celebrity … Get Me Out of Here! in 2009, when he was fourth to be eliminated. In his later years, however, he had dementia and was moved to a care home in Brisbane, where he died.