The violence that broke out during Mr Egeland's visit underscored the precarious situation in the western Sudanese region.
Angry residents targeted aid workers in Kalma camp, one of the largest camps for internally displaced people with close to 100,000 inhabitants.
"There were clashes and it turned chaotic. A Sudanese translator for the African Union was killed," a UN official said, adding that several people were also wounded in the clashes.
A UN vehicle was attacked by stone-throwing and stick-wielding refugees after a rumour spread among the crowd that one of the local aid workers had links to the pro-government Janjaweed militia.
The AU translator was killed when a subsequent stampede erupted. Displaced Darfur residents complain that the government and its proxies continue to attack them, even inside UN camps.
Militia to be disarmed
As the unrest flared, the Sudanese government in Khartoum announced that on May 15 it would start disarming the government-backed militias held responsible for much of the killing in its western Darfur region.
If carried out, it would be the first major step taken by the Sudanese government toward implementing last Friday's Darfur peace agreement.
Separately, US President George W Bush said he would send Secretary of State Condoleezza Rice to the UN Security Council to seek a rapid deployment of peacekeepers to Darfur.
The European Union, African countries and Sudan also urged Darfur's two hold-out armed factions to endorse the peace agreement signed last Friday by Khartoum and Darfur's main rebel movement in a bid to end the three-year conflict.
Meanwhile, Mr Egeland was due to return to Khartoum for talks with officials expected to focus on the international community's drive to replace an embattled AU contingent with UN peacekeepers.
Such a deployment is seen as essential for the partial agreement signed during AU-sponsored peace negotiations in Abuja to yield any peace dividends to people on the ground.
Turning up the pressure, the EU, AU and Sudan called on all rebel movements to sign the Darfur peace agreement, at an EU-African ministerial meeting in Vienna.