Bindi and Robert Irwin honor Steve Irwin 20 years after his death with emotional tributes

Bindi and Robert Irwin have each shared heartfelt tributes to their father and Crocodile Hunter Steve Irwin, 20 years after his tragic death, with Bindi describing him as a beloved "guardian angel".

Bindi was eight and Robert was just two when their father was fatally struck by a stingray barb while snorkelling off Port Douglas in 2006.

Both Bindi and Robert have followed in their father's footsteps, pursuing wildlife conservation, while finding their own fame and success both in Australia and the United States.

On Instagram, Robert shared a photo of himself as a khaki-clad baby looking up at his mud-covered dad.

"Your legacy is forever," he wrote.

Bindi shared a video of an excited Steve talking about the day she was born, describing it as "the most incredible wildlife experience of my life".

"I was flabbergasted. It was a combination of adrenaline and emotion.

"For me to deliver my daughter was a very special moment. I can't dwell on it too much because I'll start to cry," Steve said in the video.

Bindi wrote that her father's death was more than just the loss of "the most passionate and dedicated wildlife conservationist".

"My mum lost the love of my life; my brother and I lost the greatest dad.

"Grief never truly leaves us; we walk alongside it every day.

"In that 20 years, I have watched the world mourn my dad with our family."

She said that she has learned that beyond wildlife conservation, her father's legacy was one of "love".

"I have a five-year-old daughter who watches his documentaries every morning.

"She feels utterly loved by the 'grandpa crocodile' without having met him."

Bindi said his life and legacy were worth celebrating, and so was the love he had for his family.

"Dad, I love you with my whole heart," she said.

"She loves you so much. We all do."