The stricken mammal, which was around 30ft long, was found on the beach in Redcar early on Tuesday.
Cleveland Police were alerted and marine experts rushed to the scene to try and help the creature.
It was partially submerged on the beach and in distress. Firefighters used their jets to spray it in a bid to keep it alive.
However, a Cleveland Fire Brigade spokesman confirmed later that the whale had died.
Hundreds of people had stopped at the beach on their way to work after realising the whale had been beached.
Many had posted pictures of the mammal on Twitter.
Police confirmed it was a sperm whale and asked people to stay away from the beach until the mammal was removed by environmental health officers.
The local tourist office said: