The private helicopter was on a flight from Dechmont, near Livingston, to Nottinghamshire when it came down near Selwick Bay in East Yorkshire at about 1.40pm yesterday.
Witnesses described how they heard a loud “crack” and then saw the helicopter disappear behind cliffs, where it crashed into the sea.
The identities of the men has yet to be released as next of kin are made aware of the tragedy.
Police have confirmed that the JetRanger helicopter was due to refuel at nearby Humberside Airport before continuing to its final destination. Emergency services including the air ambulance, the coastguard and air sea rescue located the helicopter.
The two men’s bodies were recovered from the sunken aircraft shortly before 5pm, police said.
The investigation into the incident which resulted in the aircraft crashing into the sea is being led by the Air Accident Investigation Branch. (AAIB)
Humberside Police are working alongside the AAIB and are offering support to the families of the deceased who lost their lives in the incident.