Bruce Baird, a former federal Liberal MP and deputy leader of the party’s New South Wales branch, has died aged 84.

Baird, who also served as the NSW transport minister from 1988 to 1995, is the father of former state premier Mike Baird, the ABC journalist Julia Baird, and the marketing executive Steve Baird.

As a NSW minister, Baird was instrumental in lobbying for the 2000 Olympic Games to be based in Sydney. He then entered federal parliament as the member for Cook.

Baird retired before the 2007 election, when Scott Morrison won the seat and went on to become prime minister.

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Morrison said Baird was “a giant, a mentor and a friend who celebrated and lived out his strong Christian faith, loved his family and served his country, his state and our community in the shire”.

“His achievements are significant, most notably the transforming effect he had on our home city of Sydney as the minister for Sydney’s successful Olympic bid. But there are many more.”

NSW Liberal leader, Kellie Sloane, said Baird was “driven by a strong sense of service, conviction, and compassion, earning the trust and respect of people regardless of their political affiliation”.

“Above all, Bruce was a devoted husband to his late wife Judy, and a proud father and grandfather.”

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In a statement, a NSW Liberal spokesperson offered its “deepest condolences on behalf of all members to his family at this difficult time”.

Baird was a passionate supporter of refugees and advocated on their behalf throughout his career.

While a Liberal MP, he opposed the Howard government’s mandatory detention of asylum seekers. After leaving office, he became a member of Kevin Rudd’s refugee resettlement advisory council.

In 2010, Baird criticised the reopening of Curtin detention centre in Western Australia to house asylum seekers.

“Don’t confuse treating people badly when they arrive with effective border control mechanisms, they are two different things,” he told the ABC.

“If we rely on treating asylum seekers badly in this country then there is something about us that we need to have a hard look at. I don’t believe that is the Australian way.”

Baird was also a regular feature of Manly’s Bold and Beautiful ocean swimming club. A member of the squad also confirmed his death on Friday.

On Thursday, the club’s organiser, Peter Anthony, wrote to members describing Baird as a “wonderful friend to so many of us”.