Azaria disappeared from the tent near Uluru, or Ayers Rock, in 1980 in an incident that sparked decades of debate in Australia over whether her mother Lindy, who was jailed for murder, was responsible for the infant's death.
"I find that a dingo took baby Azaria and dragged her from her tent," said coroner Elizabeth Morris in the Darwin Magistrates Court, adding that the evidence was sufficiently "Adequate, clear, cogent and exact."
"It is clear that there is evidence that in particular circumstances a dingo is capable of attacking, taking and killing of young children," she said.
Lindy, now known as Chamberlain-Creighton after remarrying, always insisted that a dingo killed the baby, but her version of events was widely doubted by the Australian public.
The coroner ruled that shortly after Lindy placed Azaria in the tent that afternoon a dingo entered, took the baby, and dragged her away.
Morris detailed how the mother was alerted to a baby's cry, and on returning to the tent saw a dingo nearby.
The convictions of Chamberlain and her then husband Michael, who was given a suspended term for being an accessory, were overturned in 1988 after the chance find of a piece of baby Azaria's clothing near a dingo lair.