The large whale, measuring over 15 feet in length, is thought to have become stuck in some lobster pot ropes.
A spokesperson from Scarborough Council told The Scarborough News: "Our officers will be putting up a cordon around the whale and arrangements are currently being made in conjunction with the RSPCA to remove the whale from the shoreline tomorrow."
Lindsey Crawford, an expert from marine exhibit Sea Life Scarborough, told the local radio station: "With an animal that large, you can't just take it off the beach.
"The main reason we wanted to go down was to see if there were any obvious wounds that could tell us why it's died.
"Body condition was quite healthy, it's quite a nice looking animal, the only thing was a few lacerations around the tail area, possibly made by ropes or netting.
"People would be very surprised at what is actually on their doorsteps. We have some beautiful animals in our sea and Minke Whales are one of them."
Minke whales usually travel alone and are commonly found in the North Sea.
They are highly inquisitive and are often known to investigate boats.