A woman has died after falling from the sixth-floor balcony of a hotel in the Sydney beachside suburb of Cronulla.

Police and emergency services called to the hotel on The Kingsway at about 1.30am (AEDT) on Sunday found the 31-year-old woman lying on the footpath.

She was taken to Sutherland Hospital, where she died.

Detectives and specialist forensic officers set up an investigation into the circumstances of her fall.