Belgian rider Eric Palante was found dead on Friday morning following the Dakar Rally's fifth stage.
According to organisers, the 50-year-old's body was found at the 143-km mark of Thursday's stage, the longest of the event, after a vehicle was sent to recover him on Friday morning.
Organisers said they had not received any alerts during the stage, and that the causes of Palante's death were being investigated.
Palante, a father of five, was competing in the Dakar for the 11th time.
The Belgian is the 27th competitor killed in the rally's history.