Majoras' body was found around 5:00 p.m. Wednesday under some ice in the Delaware and Raritan Canal, near the Lambertville Station, after one of her boots was discovered nearby.
In a news release issued Thursday afternoon, Hunterdon County Prosecutor Anthony Kearns said the identification was made by the medical examiner.
While the cause of death is still pending toxicology tests, Kearns once again said there were no signs of foul play and all indications are her death was a "tragic accident."
All her Majoras' personal property, including cash, identification, wallet, keys, and flashlight were in her possession, Kearns said.
Majoras disappeared after walking across the bridge into Lambertville at 2:15 a.m. Saturday after an evening at John & Peter's Bar & Restaurant in New Hope, Pa. where she was a bartender.
Majoras was reported missing by her live-in boyfriend on Saturday afternoon.
Investigators are still asking anyone who may have seen or heard Sarah that night to contact the Hunterdon County Prosecutor's Office at 1-800-321-0010.