The body of a 43-year-old Egton Grange man was discovered by a member of the public on Sunday.
Mark Atkinson had not been seen since around midnight on Friday.
Following a search of the area, his body was found by a member of the public close to Egton’s railway bridge in the River Esk at 2.35pm.
Members of Scarborough and Ryedale Mountain Rescue had been on exercise with colleagues from RAF Leeming when they were asked to assist with the search for Mr Atkinson.
The mountain rescue team recovered his body to Scarborough Hospital using one of their Land Rover ambulances.
The inquest into Mr Atkinson’s death has been opened and adjourned in Scarborough and a file is being prepared on behalf of the coroner.