The performance shaved one centimetre off his previous best set in France in February.
It was the seventh world record for the back-to-back world champion, who soared over the rest of the field at the season-ending meeting as EJ Obiena of the Philippines finished second with 5.82 and American Sam Kendricks took third with 5.72.
The fans at Hayward Field held their breath as the Olympic champion Duplantis nudged the bar when he cleared the record height, before erupting with cheers.
With his family there to witness the occasion, jumped up and down in joy before sprinting to his team, who hoisted him into the air.
“I knew that when I was over the bar just to not panic because I knew I was going to have to squeeze over a little bit. I don’t know, I just looked up and the bar was still there – I don’t know, it’s hard to explain,” Duplantis said in televised remarks.
The record-breaking performance was exactly how he wanted to end his extraordinary season after he tried and failed to clear his own record mark at the world championships in Budapest.
He is expected to be one of the biggest attractions in athletics at the 2024 Paris Olympics.
It was the second world record that the crowd in Eugene witnessed on Sunday, after Ethiopia’s Gudaf Tsegay smashed the women’s 5,000 metres world record with a run of 14 minutes 00.21 seconds.