Police were called to the Southwater 1 car park at Telford Town Centre at 1pm yesterday.
A West Mecia spokesman said: "Police negotiators spoke to the man but unfortunately he fell from the building at 3.40pm and was pronounced dead at the scene."
Nigel Newman, spokesman for Telford & Wrekin Council, which owns the site, said: "Our thoughts are with the family and friends of the man who died at Southwater yesterday.
"On the upper tier of the car park there is perimeter fencing approx six feet high which is topped with security wire."
The man has not yet been identified.
The car park reopened yesterday evening.