In a post on Instagram, she said she misses and loves him 'beyond description' on what would have been his 58th birthday.
Bindi wrote: "Dad, Today is your birthday. I had an extra strong cup of tea just how you liked it. I hugged Mum for you and told her how much we love her.
"Robert and I went on a hike through the mountains you cherished. I watched one of your documentaries with Chandler and shared stories about you.
"I walked through your office in the zoo and smiled at our old family photographs. Today and every day I miss you and love you beyond description. You're always with me."
His wife Terri also paid tribute to him on Twitter, and said she was 'determined to celebrate what he loved the most'.
Today would've been Steve's 58th birthday. While my heart aches missing him every day, I'm determined to celebrate what he loved the most. He was happiest spending time @AustraliaZoo w/ @BindiIrwin & @RobertIrwin. He was my best friend, best dad, & built the best Zoo. I love you. pic.twitter.com/IWsoWuJqxY
- Terri Irwin (@TerriIrwin) February 22, 2020
She said: "Today would've been Steve's 58th birthday. While my heart aches missing him every day, I'm determined to celebrate what he loved the most.
"He was happiest spending time @AustraliaZoo w/ @BindiIrwin & @RobertIrwin. He was my best friend, best dad, & built the best Zoo. I love you."
Steve was killed by a stingray on 4 September 2006 while filming in the Great Barrier Reef, and the conservationist and TV personality left behind daughter Bindi, son Robert and wife Terri.
However, his family have continued to build upon his legacy, running Australia Zoo in Beerwah, Queensland, which was first founded by Steve's parents.
Dad and me feeding Murray... same place, same croc - two photos 15 years apart :heart::crocodile: pic.twitter.com/9Ybp5AnTOI
- Robert Irwin (@RobertIrwin) July 3, 2019
No doubt Steve would have been especially proud of his family last month as they worked around the clock to help save wildlife from the devastating bushfires that ravaged the country.
More than one billion animals are feared to have been killed by the blazes.
Featured Image Credit: Instagram/Bindi Irwin