Stephen Midwinter, 64, was found between Wyntour's Leap and Tintern on Bank Holiday Monday.
A Gloucestershire Police spokesman said: "We are sad to report the body has been confirmed as that of missing Lydney man Stephen Midwinter.
"The body was formally identified using fingerprint testing and Mr Midwinter's next of kin have been informed.
"There are no suspicious circumstances surrounding his death."