Yes...the chapter 613 is when they die. On the final page in bold it says, "Shikaku and the others die!"
Also note that just before Naruto holds Hinata's hand (XD) he has that, "its not just me....up until now" moment where Shikaku and Inoichi appear with Chiyo, Kushina, Hiruzen, Minato, Itachi, Nagato and Jiraiya. Not how many of them gave heroic sacrifices....all of them. It further implies they died ^.^
That and Shikamaru and Ino's faces along with Madara's, "that took long enough" comment!