Stensby retired in 1995, according to the Minneapolis Star Tribune.
His body was at the base of a cliff next to the park’s Vernal Fall, where he had apparently fallen after stopping to take a photo, park officials said.
Search crews had found his backpack on Sunday at the top of the waterfall. His camera was not in the pack.
His body was removed from the area around 1 p.m. Tuesday, a day after it was spotted from the air, according to park officials.
The Yosemite National Park 1,200 square miles, is in California.
The Associated Press contributed to this report.