Two other Spanish workers were injured in the accident at the Vicente Calderon stadium, one critically. Police said three of the workers fell about 30 feet from the scaffold and landed on the fourth worker.
The Rolling Stones, currently on the European leg of their A Bigger Bang world tour, performed in the soccer stadium in the Spanish capital Thursday night. They are due to play in the southern town of El Eijido this weekend.
The dead workers were identified as Benno Goldewijk, 44, of the Netherlands, and Alfredo Pecina Matias, 38, of Spain, said Javier Ayuso, a spokesman for Madrid's emergency rescue service.