The Briton finished third in the season-closer behind race winner Verstappen and the other title challenger, McLaren teammate Oscar Piastri, to claim the crown by two points.
Norris, in tears on the team radio, said: “Thanks so much. I love you mum, I love you dad.”
“That was exciting, a little too exciting, awesome,” said McLaren team principal Zak Brown.
Norris becomes Britain’s first world champion since Lewis Hamilton in 2020 with this 13th drivers’ crown for McLaren.
The 26-year-old’s success comes over half a century after Emerson Fittipaldi claimed the British marque’s first drivers’ title in 1974.
A galaxy of F1 greats followed – James Hunt (1976), Niki Lauda (1984), Alain Prost (1985, 1986, 1989), Ayrton Senna (1988, 1990, 1991), Mikka Hakkinen (1998, 1999) and Hamilton in 2008.
McLaren, headed by team principal Andrea Stella and CEO Brown, secured back-to-back constructors’ titles in Singapore last month.
Sunday’s season-closer was the first time the title was decided by a contest involving more than two drivers since a four-way scrap at the final race in Abu Dhabi in 2010. (AFP)