He does not get paid by the FSF, nor does he accept speaking fees (insofar as I am aware; I'm not sure if there are certain sponsors, but he insists that those be donated to the FSF, not himself); his time is donated. He received a MacArthur grant a while back, while he is able to live off of.
> £20k/year doesn't actually strike me as that much.
You should learn about investing.
If he invested the initial amount without spending it, a moderate dividend yield of 3% would make him $15000 a year. Add 25 years of dividend growth, and he is probably receiving $50000-$100000 today, or even more if he reinvseted some of the dividends.