Mr Johnson, who died in January at 75, was remembered for his 25 years of service during a condolence motion in state parliament on Thursday.
He was first elected as the National Party member for the outback seat of Gregory in 1989 before becoming transport minister in the Borbidge coalition government. He also served as parliamentary secretary for Western Queensland and the state's commissioner for drought, and wild dog fencing.
Premier Annastacia Palaszczuk says he was one of the most popular MPs of all time who had a famously "bone-crushing" handshake.
"Whether you lived in Birdsville, Bamaga or Brisbane, Vaughan was a down-to-earth, no-nonsense politician who was absolutely committed to helping people," she told parliament on Thursday.
"He was a passionate man and mates with everyone and an absolutely fierce advocate for regional Queensland."
Current Gregory MP Lachlan Miller fondly recalled when his mentor and friend got caught in gridlock on the highway between Brisbane and the Gold Coast when the M1 was being built.
He said the then transport minister got out of his car and started walking up the line of traffic, apologising to drivers for the inconvenience caused by the road works.
"I can imagine the surprise receiving a knock on their driver's door window by a big stocky bloke from outback Queensland, saying, 'Hello, I'm Vaughan Johnson. I'm the minister for roads, I just want to apologise'," Mr Miller told parliament.
"I can also imagine Vaughan picking up the phone to the planning department to share his opinions on the scheduling of the workstream at peak hour affecting so many people."
Katter's Australian Party MP Shane Knuth remembered Mr Johnson as a friend to all, including a minister he had once viciously attacked in a speech to parliament.
"And then two days later, him and the minister were in the Strangers (Bar) shouting beers, and they weren't there for just one hour or two, they were there for quite some time," Mr Knuth said.
Opposition Leader David Crisafulli revealed that in 1989 a senior National had to be sent to pass on instructions to the newly elected Mr Johnson.
"He had to tell Vaughan to do three things: to stop swearing, to stop drinking rum by the gallon, and to stop bloody fighting," Mr Crisafulli said.
"You can make your own mind up if any of that advice was ever heeded."
However, Mr Crisafulli said Mr Johnson will be remembered as a "true champion of the west" who gave his time and energy to help people, particularly those living through drought.
"He gave, unstintingly, his time and efforts to help those people who lived in often challenging conditions," he said.
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