Lewis Chambers, 16, died in hospital after being hit by a Citroen Xsara outside West Midlands Safari Park in Bewdley on Sunday evening.
"Our beautiful son Lewis has been taken too soon to an absolutely awful, tragic incident," a statement said.
Anyone with information about the collision was urged to contact police on the 101 number.
The family added: "Heaven has gained one awesome angel who, I hope and pray, will look over his family, especially his little brother Ben, step-sister Amy and best friend Josh.
"We will miss him so very much and always will."
The family of a teenage boy who died after being hit by a car has paid tribute to a "beautiful son".