Whitlock bowed out from his glittering career without the medal and record he had been chasing since returning to the sport.
The 31-year-old had considered retiring after successfully defending his title at Tokyo, taking an 18-month break from the sport to deal with mental health struggles.
But he returned, motivated in large part by the desire to win in front of his young daughter Willow. The five-year-old has been one of her father’s most vocal supporters in the stands at the Bercy Arena.
“It’s very raw at the moment and I would have loved for it to end in a better way here in Paris,” Whitlock, who was fighting back tears, told BBC Sport.
“But I do not want anyone to look at the way I am feeling now and think that it is a reflection of my career. I am so proud standing here today.
“It was a challenge getting here. I could have quit after Tokyo and I decided to come back.
“I gave it every shot I possibly can, I’m here today and I’m grateful for the journey I’ve had.”
His Olympic journey started at London 2012 with a bronze on pommel horse, as well as a historic first – and still only – bronze in the men’s team event.
Four years later in Rio, Whitlock became Britain’s first all-around medallist for 108 years when he took bronze and then became GB’s first individual Olympic gold medallist by winning the floor and pommel horse titles.
But he missed out on a medal in Paris, having qualified for the final in third place.
He had performed an upgraded routine in the team event, raising the prospect he could win a third successive gold – but his rivals also increased their difficulty levels and he could only clap their efforts.
Whitlock retires with a collection featuring six Olympic medals, three World Championship golds, four European titles and four Commonwealth Games golds.