Yes there was a death. I've heard several versions of what happen, but I'm guessing queenlive.ca has the most accurate info.
"A baby was born in the audience at some point in the evening, but someone was killed as well. A fan climbed a lighting tower to get a better view, but fell onto someone who was none too pleased and subsequently stabbed him. St. John's Ambulance was called, but their fight through the crowd took too long and the victim died." - queenlive.ca
There's also a link to a newspaper article about it on the site.
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I hate it how Queenonline has never said anything about the death. Wasn't the killing one of the reasons why Freddie didn't want to tour anymore? Aside from the AIDS factor, of course.
I guess that is why there is so much security at concerts these days. You always have to watch out for your own comfort and safety in a large group though.