Former heavyweight boxing champion Joe Frazier has died at the age of 67 after a brief battle with liver cancer.

"Smokin' Joe" died in Philadelphia, Pennsylvania on Monday night, his manager confirmed.

Frazier became the first man to beat Muhammed Ali in 1971, but went on to lose two rematches including the famous 'Thrilla in Manila' bout.

In his 37 professional fights, Frazier enjoyed 32 wins, 27 by knockout, and lost only four, with one draw.

Frazier retired in 1981 and went on to open a gym, own a restaurant and run a clothing line.

He is survived by his 11 children.