Clifford Grooms, 65, went missing on the trip near the Seminole County line Monday.
Seminole County Sheriff's deputies found his body before 1 p.m. Saturday under the westbound Interstate 4 bridge, according to the Volusia County Sheriff's Office.
Deputies said the Volusia dive team recovered Grooms' body around 4 p.m.
Deputies do not suspect foul play.
The medical examiner's office will conduct an autopsy Monday morning.