“Today football lost the greatest man in its history and I lost a unique friend.
Football will always be yours.
Rest in peace," Beckenbauer, 77, wrote on social media.
Pele died at the age of 83 on December 29 after a long illness.
Pele's health deteriorated due to kidney and heart dysfunction.
On December 2, doctors informed him that he had a respiratory infection.
The legendary Brazilian footballer spent the last month in the hospital.
Pele is the only three-time world champion as a current player.
During his career, he scored 1289 goals in 1363 games.
The International Olympic Committee recognized Pele as the best football player of the 20th century, despite the fact that he never participated in the Olympic Games.
Pele is also recognized as the best football player of the 20th century by FIFA.
This title was awarded to him by many of the largest sports publications in the world.
Earlier it was reported that Santos declared seven days of mourning in connection with the death of Pele.