Ron Easton had climbed on to the roof of an extension on his Devon home with a bucket of tools, but got stuck after falling over or collapsing, according to Devon and Somerset Fire and Rescue.
One of his friends called 999 after spotting three unopened milk bottles outside his home in Bigbury-on-Sea on Wednesday.
A Twitter account for Kingsbridge Police said Mr Easton died on Friday, adding: "Our sincere condolences go out to the family and friends of Ron."
Mr Easton was discovered lying face down on a garden rake with his bucket of tools next to him. He was a former racing driver.