Last Tuesday (14 July), Bad Seeds frontman's child fell from a cliff at the Ovingdean Gap in Sussex, and was found by a member of the public.
An inquest in Brighton opened yesterday (Thursday 23 July 23, where coroner’s officer Thea Jones revealed the cause of death to be "multiple traumatic injuries due to a fall from a height".
She continued: "Emergency services were called at 5.55pm to the underpass between Ovingdean and Rottingdean after a young male was found by two passers by. He had injuries consistent with falling from a great height."
Cave, wife Susie Bick and Arthur's twin brother Earl issued a family statement saying: "Our son Arthur died on Tuesday evening. He was our beautiful, happy loving boy. We ask that we be given the privacy our family needs to grieve at this difficult time."
Arthur and Earl featured in Cave's acclaimed documentary film, 20,000 Days On Earth.
Watch the trailer for 20,000 Days On Earth below
Police state that his death is not being treated as suspicious, but investigations continue.