While his wife Dani Lyons took to her Instagram to write: "In the early hours of this morning my beautiful husband Pauly suddenly passed away. My heart is smashed into a million pieces and I can’t believe my soulmate and best friend is gone.
"We loved each other deeply and fiercely and can’t bare the thought of not ever seeing him again, hearing his voice or having him by my side. We had so many plans for our future and were only weeks away from moving into our new house and having a fresh start.
"Although Paul had endured much sadness at not being able to have a relationship with his own child, he threw every inch of his being into being the most loving, incredible step dad to my kids and they are all devastated at losing him. Our family will never be the same and we are heart broken.
"Pauly I love you so much."
Paul, a decorated sportsman and dual Olympian, appeared in Season 2 of Australian Ninja Warrior, where he crashed out on the Basket Toss obstacle.
During his time on Australian Ninja Warrior, Paul revealed his passion for martial arts started when he was a child after he was bullied at the age of eight so he could defend himself.
"We are all extremely saddened to hear of Paul's passing," a statement on behalf of Nine and Endemol Australia read. "He was a much-loved member of the Australian Ninja Warrior community and admired by many. Our thoughts are with his family and friends at this sad time."