He then dedicated the win to his family, including his fiancee Valerie Davies, who is expecting their first child in January.
Seconds after the phenomenal win, Valerie tweeted: "Love u baby. At finish line! We are all so proud of u! Love val, bump, mum & dad!!! #proudmoment."
Whitehead, a double amputee from birth, was denied the chance to take part in his favoured marathon event, which does not feature in the Games.
His win came on a morning of world records as cycling pair Neil Fachie and Barney Storey produced a stunning performance in the velodrome to take gold in the tandem one-kilometre time-trial.
There is the prospect of more gold medals later as Lee Pearson looks for success in the dressage before darling of the pool Ellie Simmonds defends her title in the 400m freestyle, after powering through her heat in a personal best time.