The 61-year-old, originally from Cheltenham, Gloucs, joined Motorhead in 1984 after playing in other bands.
He had previously served in the Army, where he got his nickname because of his West Country accent and likeness to Worzel Gummidge the scarecrow.
He played on nine studio and live albums until his departure in 1995.
And he was a favourite with fans for his jester-like antics in contrast to the sterner image of the band's lead singer Ian "Lemmy" Kilmister.
Lemmy said last night: "Wurzel was my friend and my brother and he's never going to laugh with me again or bitch me out or do anything.
"And that truly and cosmically sucks. RIP Wurz. God speed. Good man."
Read more: http://www.thesun.co.uk/sol/homepage/showbiz/music/3692147/Motorhead-rocker-Wurzel-dies-at-61.html#ixzz1ST40xEmI