Mr Irwin, 44, died after being struck in the chest by the stingray's barb while he was filming a documentary in Queensland's Great Barrier Reef.
Paramedics from Cairns rushed to the scene but were unable to save him.
Mr Irwin was known for his television show The Crocodile Hunter and his work with native Australian wildlife.
Police in Queensland confirmed the environmentalist's death and said his family had been notified. Mr Irwin was married with two young children.
Helmond, Netherlands
Mr Irwin's manager John Stainton told the BBC the stingray's barb had pierced the personality's heart.
"He came over the top of a stingray and a barb, the stingray's barb went up and put a hole into his heart," he said.
"We got him back within a couple of minutes to Croc 1, which is Steve's research vessel, and by 12 o'clock when the emergency crew arrived they pronounced him dead."
The incident happened at Batt Reef, off Port Douglas.
Australian Prime Minister
Australian Prime Minister John Howard said he had known Mr Irwin well, and that the country had lost a "wonderful and colourful son".
"I am quite shocked and distressed at Steve Irwin's sudden untimely and freakish death", he said.
"It's a huge loss to Australia - he was a wonderful character, he was a passionate environmentalist, he brought entertainment and excitement to millions of people."
The stingray is a flat, triangular-shaped fish, commonly found in tropical waters.
It gets its name from the razor-sharp barb at the end of its tail, coated in toxic venom, which the animal uses to defend itself with when it feels threatened.
Clinical toxicologist
Attacks on humans are a rarity - only one other person is known to have died in Australia from a stingray attack, at St Kilda, Melbourne in 1945.
"Stingrays only sting in defence, they're not aggressive animals so the animal must have felt threatened. It didn't sting out of aggression, it stung out of fear," Dr Bryan Fry, Deputy Director of the Australian Venom Research Unit at the University of Melbourne said.
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