The 14-year veteran and father of five brought the man down the ladder and collapsed. He remained in a coma at St. Francis Medical Center.
Trenton Fire Director Richard Laird Jr. announced the death of the 43-year-old father of five on Wednesday.
Mayor Douglas H. Palmer has ordered all City flags to be flown at half-staff in honor of Rivera.
"Today I ask all Trenton residents to join me in expressing our heartfelt sympathies to the family of Firefighter Manny Rivera, who passed away late Tuesday night," Palmer said.
According to the city, Rivera is the first Trenton firefighter in 23 years to die from actions while in the line of duty.
The Associated Press contributed to this report.
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