The stranded sperm whale at Hunstanton died shortly after 8pm, the British Divers Marine Life Rescue said.
The organisation said it was a "relief" as the whale had been suffering.
There will be a post-mortem examination on the whale in the morning.
Teams spent much of the day at the beach but said their main focus was making the whale comfortable as it had little chance of survival.
High tide arrived at 2.50pm, engulfing the whale but it was unable to move.
Even if it had returned to the sea, it was likely to become stranded again and would almost certainly die because of internal injuries suffered since coming ashore, the BDMLR added.
It is the sixth UK stranding in recent weeks and the 29th sperm whale to become stranded across Europe in the last two weeks.
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Two teenagers who got into difficulty in water at Thorpe Marshes Reserve, in Trowse, Norfolk, have been found dead, Norfolk Police said.
Emergency services were called to Thorpe Marshes Reserve in Trowse at around 4.50pm following reports two people were missing in the water.
We responded quickly to the call, with up to 40 officers on the scene, including our dive team and urban search and rescue team.
Tragically there was nothing we could do and two young people have lost their lives whilst in open water.
My heartfelt condolences, and those from every fire fighter at the scene, go out to the family at this terribly sad time.
Crews from the East of England Ambulance Service and the coastguard helicopter remain on scene.
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Two men who were killed in an explosion at a Norfolk warehouse have been named by police.
Daniel Timbers, 29, and Barry Joy, 56 - both employees at digger bucket manufacturer Harford Attachments - were killed in the blast at the company's industrial unit in Spar Road, Norwich on Monday morning.
Timbers' family described him as a "loving son, brother, grandson, partner and father," adding: "We are all devastated by this tragic loss."
Joy's family said: "The tragic incident yesterday has left us all shocked at the death of someone very dear to us and there are no words that can even begin to describe how we feel at this time."
They also described Joy as a "loving family man", "devoted" father of two and a "loyal friend who would bright the day of anybody who he would meet".
Detailed inquiries into the cause of the blast began today but are expected to take some time, Norfolk Police said.
Investigations are continuing into exactly what caused an explosion at an industrial estate in Norwich.
Detective Superintendent Dave Marshall of Norfolk Police said two men, one in his 20s and one in his 50s, were pronounced dead at the scene.
It is thought both men were employees of Harford Engineering and were the only people in the area where the incident happened just after 9am.
Next of kin are currently being informed of the deaths.
Witnesses of the aftermath of an explosion which killed two men in Norwich have said the smoke was so thick you could not see through it.
Ashley Cashfield, who works at a plastic supply firm on the estate, told ITV News Anglia there were "lots of people running around" as he drove into work.
"You could see the panic in people's eyes. Obviously something serious had happened."