Sir Murray was badly injured while playing rugby in Auckland when he was 17 and was left with a withered left arm, having to teach himself to do everything, from writing to eating, with his right hand.

His career was guided by Arthur Lydiard, whose methods involved fearsome endurance training coupled with smart targeting of major events.

Sir Murray stayed at the back of the pack for most of the Rome final before replicating the plan that had earned him gold in the three miles race two years earlier at the Cardiff Commonwealth Games and moving decisively to the front with three laps to go.

His lead was being closed down over the final 100m, but he had ample time to spare to earn New Zealand a second title in the space of what came to be known as its "Golden Hour" following the 800m victory of Peter Snell, who was also coached by Lydiard.

He was famously pictured lying exhausted on the infield after his draining victory.

Two years later Sir Murray, who had become the first New Zealander to run a sub-four minute mile in 1958, successfully defended his Commonwealth title at the Perth Games.

Sir Murray is a member of the Order of New Zealand - the list of the greatest 20 living Kiwis, alongside Richie McCaw, former Prime Ministers and Dame Kiri Te Kanawa.

In a statement following news of his death, Athletics New Zealand labelled Sir Murray "one of the most iconic names in New Zealand sport".

"Sir Murray leaves a huge legacy after ushering in a golden age for the sport of athletics in New Zealand", it reflected.

Sports Minister Grant Robertson said Sir Murray was a "legend".

"Sir Murray was an extraordinary athlete," Robertson said in a statement.

"His gold medal in the 5000m at the Rome Olympic Games in 1960 has been immortalised as part of New Zealand's golden afternoon at the Games, with Peter Snell winning the 800 metres.

"In its own right Sir Murray’s win was very special, driven to win by exceptional fitness and dogged determination.

"His Olympic victory was complemented by success at Empire and Commonwealth Games in 1958 and 1962.

"In 1961 he set world records over the two and three mile distances. 

"He was also the first New Zealander to run a sub four minute mile.

"He was truly a legend of New Zealand athletics, but his contribution has been so much more than that.

"In 1963 he established the Halberg Trust to support children with disabilities in sport and recreation.

"Through the Trust Sir Murray has changed the lives of generations of New Zealanders.

"The sheer joy that we witness each year at the Halberg Games is vindication of his vision.

"The fact that our Sportsperson of the Year Awards are simply known as the Halbergs is a fitting legacy to his work and that of the Halberg Foundation.

"As a country we have so much to be thankful for from Sir Murray’s life.

"He was one of our best, a member of the Order of New Zealand, a humble man of compassion and vision."

New Zealand Olympic Committee president Liz Dawson said Sir Murray's achievements on and off the field of play will go down in history.

"No one ever exemplified the Olympic spirit of triumphing over adversity better than Sir Murray Halberg," said Dawson.

"Sir Murray is one of our greatest ever Olympians and has left an enduring legacy. 

"He won the 5000m gold medal at the Rome 1960 Olympic Games, as part of the Golden Hour - one of the most important events in New Zealand sporting history."

In the 1961 New Year Honours Sir Murray was appointed as a Member of the Order of the British Empire for services to athletics.

He ran until the Tokyo Olympics in 1964, where he finished seventh in the 10,000m final.

Sir Murray was knighted in 1988 for services to sport and disabled children, and was inducted into the New Zealand Sports Hall of Fame in 1990.

Sir Murray and his wife Phyllis had two children.

After a battle with cancer, he returned to good health and assisted the 2002 Commonwealth Games team in Manchester as a mentor for the athletes, a role he filled again at the Athens 2004 Olympics.