The family of one of Australia’s most well-known outback murderers have said their final goodbyes to a man they said will be “deeply missed”.

Bradley John Murdoch died in palliative care on July 15 while serving a life sentence for the roadside murder of British backpacker Peter Falconio in 2001.

WATCH ABOVE: Bradley Murdoch’s family say their final goodbyes.

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The 67-year-old had lung cancer that had spread to his brain, his family said.

In a private ceremony shared by family and friends, Murdoch was cremated and his ashes scattered at an “undisclosed location”.

After his death, Murdoch’s family chose to remember him as a devoted family man in a statement released to the media.

“To many, Bradley Murdoch is known only for the events that led to his conviction in 2005 for the murder of British backpacker Peter Falconio, a crime for which he has always denied responsibility from his arrest until his death,” the statement said.

“But to those who truly knew him, he was much more than the headlines.

“Brad was a devoted father, father-in-law, and proud Poppy who never missed a chance to brag about his grandchildren. He was a beloved brother, uncle, and friends.”

Back in 2001, Falconio, 28, and his girlfriend Joanne Lees were driving about 300km from Alice Springs in the NT, when they were flagged down by Murdoch, who claimed the car the couple was driving had mechanical issues.

Falconio and Murdoch went to the back of the car, when Lees heard a gun shot.

Murdoch has protested that he was innocent in the shooting murder of Falconio, however was found guilty in 2005 and sentenced to 28 years or life without parole.

He was also found guilty of attempted kidnapping of Lees, whose head was covered and her hands tied shortly after she heard the gunshot.

She managed to escape into the bush, and hours later flag down a passing truck.

Falconio was never seen again, and his body has never been found.

In 2003, prior to being found guilty of Falconio’s murder, Murdoch had faced charges of abducting and raping a 12-year-old girl and her mother in Swan Reach, South Australia, but was ultimately acquitted.

In 1995, Murdoch was jailed for 21 months over shooting at a crowd of Indigenous football fans at Fitzroy’s Crossing in WA.

The magistrate at the time noted his temper, firing at the crowd in “a fit of rage” and Murdoch’s “hatred’ of Indigenous people.

In 1980, aged only 22, Murdoch received a suspended sentence after being convicted of causing death by dangerous driving, after hitting and killing a motorcyclist at Port Pirie in South Australia