Former Liberal politician Bruce Baird, a key figure in Sydney’s bid for the 2000 Olympic Games, has died.

Baird, the father of former NSW Premier Mike Baird and journalist Julia Baird, was a highly respected figure at both state and federal level for more than two decades.

WATCH THE VIDEO ABOVE: Former Liberal politician Bruce Baird dies aged 84

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He was first elected to NSW Parliament in 1984 in the former seat of Northcott, which he held until 1995.

Baird was Minister for Sydney’s Olympic Bid between 1990 and 1993, held the Transport, Tourism and Roads portfolios, and was deputy leader of the NSW Liberal Party between 1992 and 1994.

He was described by a NSW Liberal spokesperson on Friday as a “party stalwart” and a politician who was “greatly respected”.

“We offer our deepest condolences on behalf of all members to his family at this difficult time,” the party said.

Bruce Baird has died aged 84. Credit: 7NEWS

Baird left state parliament and became managing director of the Tourism Council of Australia and chair of the National Rail Corporation.

He represented the federal seat of Cook from 1998 to 2007, when he retired. The seat was later won by future Prime Minister Scott Morrison.

As he prepared to step away, Baird said he had enjoyed his career in politics but was disappointed not to have been made a minister in the John Howard-led government.

“I’d hoped I would, in having been deputy leader in New South Wales, but that’s the way it is,” he said at the time.

“I have no regrets and in politics you have to learn to roll with the punches.”

He said he knew his time to walk away had “arrived”, and that it was easier to do so after son Mike was elected to state parliament in NSW.

“I think one Baird in politics is probably enough for the people of New South Wales,” he said.

Bruce Baird says he never heard of Scott Morrison using racist terms in a 2007 preselection contest. Credit: AAP

Baird was appointed a Member of the Order of Australia in January, 2010.

NSW Liberal MP Matt Cross said he was devastated to hear news a “mentor to me, and to so many others” had died.

“He always encouraged me to have a go and was never short of a thoughtful opinion,” Cross said.

“I’ll miss his friendship, mentorship and guidance.”

Baird was 84.