The man and woman, who were in their thirties, and their children took part in an organized tour of the Nigardsbreen glacier in Luster with around 30 others earlier on Sunday.
Police spokesman Nils Erik Eggen told news agency NTB: “After the tour they went back and were then hit by ice as the glacier calved.”
The police received a call about the accident at 4pm on Sunday. An airborne ambulance and a Sea King helicopter were sent from Florø.
A river rescue group was also sent to the site. The search ended at 7.45pm.
The couple's two children, who are eight and ten-years-old, saw the accident, but weren't themselves hurt.
The bereaved children are now being looked after by police.
Sheriff Magne Knudsen Årdal said told newspaper Bergens Tidende: “We are now working to establish contact with the children's family in Germany.
“At the same time the crisis team of Luster municipality is taking care of the two children.”
The sheriff added the family is understood to have entered an area at the glacier where there were danger signs.