The 80-year-old man was injured at a house in Oak Drive in St Martins, near Oswestry, on Monday.
He was taken to hospital but died on Wednesday, West Mercia Police said. The force had initially said the man was found dead at a house on Wednesday but later clarified he had died in hospital.
A specialist forensic team spent much of Wednesday afternoon at the house in Oak Drive, and a man was arrested on suspicion of murder that same day.
He has now been charged with manslaughter and taking a vehicle without consent, however he is yet to be named by police.
A spokesman for West Mercia Police said: "A 31-year-old man has been charged with manslaughter and taking a vehicle without consent. He has been remanded in custody to appear at court."
Detectives had stressed to the local community that they believed the death was an isolated incident.