Steve Irwin's Father Finds Tear-jerking Letter Steve Wrote To His Parents Before Death

A heartbreaking note penned by the legendary conservationist Steve Irwin before his death has been uncovered.

A supplied image of a touching letter from a 32-year-old Steve Irwin to his parents, which his father, Bob, only found in 2016. Photo / AAP

Tragically, Irwin was killed by a stingray 10 years ago this Sunday, when his children with wife Terri were eight and two.

His letter to his parents, Lyn and Bob, has now been published at the start of his father's memoir, The Last Crocodile Hunter: A Father and Son Legacy.

Bob only discovered the unopened envelope earlier this year, when it fell unopened out of a book while he was researching his memoir.

Announcing the book's release yesterday, he said: "When the world lost Steve, the animals lost the best friend they ever had, and so did I."

The letter reads:

"Probably one of the most unfortunate things in a 'Bloke's Life' is that it takes over 30 years to realise how essential you have been to build my character, my ethics and, most importantly, my HAPPINESS," reflected the Crocodile Hunter.

"At 32, I am finally starting to figure it out. In good times and in bad, you were there.Your strength and endurance to raise me will not go unrewarded. My love for you is my strength!

"For the rest of my life I will reflect on the unbelievably GREAT times we've shared and will continue to share. You're my best friends!"