A man plunged to his death from a Brooklyn housing development Tuesday night, police said.

Residents of the Marlboro Houses in Gravesend called 911 about a possible burglary around 8:40 p.m. — after spotting the man’s legs dangling over the side of the building, police sources said.

But when police arrived, they discovered the building had not been burglarized — and the 59-year-old man had fallen from the roof to the ground below. EMS workers pronounced him dead at the scene, cops said.

The man — whose name has not been released pending family notification — lived in the building and possibly had medical, alcohol or substance abuse issues, sources said.

It’s unclear how he ended up on the roof.

The city Medical Examiner’s Office will officially determine his cause of death.