Rogge, 59, won an absolute majority in the second round of voting to take control of the world's leading sports federation for the next eight years.
Samaranch, who turns 81 on Tuesday, had headed the IOC since 1980.
The losing candidates were South Korean Kim Un-yong, Canadian Dick Pound, American Anita DeFrantz and Hungary's Pal Schmitt. Former Olympic rower DeFrantz was eliminated in the first round.
Rogge becomes the eighth president in the 107-year history of the IOC and the second Belgian to head the committee. Henri de Baillet-Latour served from 1925-42.
Rogge's victory reinforced the European-dominated nature of the IOC. Except for Avery Brundage, an American who served from 1952-72, all IOC presidents have been Europeans.
Belgian surgeon Jacques Rogge was elected on Monday to succeed Juan Antonio Samaranch as president of the International Olympic Committee (IOC).
