Scotland finished second to secure their first major team medal.
Dan Keatings, Dan Purvis, Frank Baines, Adam Cox and Liam Davie scored 257.603, with England’s 266.804 enough for victory.
However, Oldham missed England’s final two rotations after falling in the vault.
England’s women finished on a total of 167.555, and errors from Australia on both the floor and beam in the final rotation left them second on 161.646.
The Welsh team of Lizzie Beddoe, Georgina Hockenhull, Jessica Hogg, Angel Romaeo and Raer Theaker secured the country’s first team medal with a score of 160.095.
Both England teams led their events after the opening day but Whitlock, who led qualifying for the all-around final with 90.365, acknowledged his team had been pushed by the Scots.