Former England spinner Phil Tufnell told BBC Test Match Special that Lawrence was a "great man" and a "fierce competitor".
"He was a sight to behold coming in with the ball in his hand," added Tufnell. "He had power and determination and left nothing out there on the field.
"He was a great friend of mine. An intimidating sight but with a warm heart and a great sense of humour. He would fill the room with smiles and laughter and stories."
BBC chief cricket commentator Jonathan Agnew said every ball Lawrence delivered was "like an explosion of energy".
"Syd never left anything out there and he was so proud to be picked for England," he added.
"He was a dear man. He was such fun on the field, always had a smile between every ball."
Former England batter Mark Butcher called Lawrence a "full-throttle, big-hearted individual" who "wore his heart on his sleeve".
"Every time you met him there was a warmth there, a genuine love of seeing his old friends and a genuine sense of how much he enjoyed his career," Butcher told Sky Sports.
The England and Wales Cricket Board (ECB) also paid tribute to a "pioneering fast bowler whose career and character left an indelible mark on English cricket" and called Lawrence's 5-106 against the West Indies at the Oval in 1991 as his "finest moment" for his country.
"His impact on the game extended far beyond the boundary ropes," said ECB chair Richard Thompson.
"As a fast bowler, he thrilled crowds with his pace and passion. As a leader and advocate, he broke barriers and inspired change, becoming a powerful voice for inclusion and representation in our sport.
"Even in the face of his illness, David showed extraordinary strength and dignity, continuing to uplift others with his resilience and spirit. He leaves behind a legacy that will endure in the hearts of all who love cricket."