The purpose of this thesis is to provide an intrinsic proof of a Gauss-Bonnet-Chern formula for complete Riemannian manifolds with finitely many conical singularities and asymptotically conical ends. A geometric invariant is associated to the link of both the conical singularities and the asymptotically conical ends and is used to quantify the Gauss-Bonnet defect of such manifolds. This invariant is constructed by contracting powers of a tensor involving the curvature tensor of the link. Moreover this invariant can be written in terms of the total Lipschitz-Killing curvatures of the link. A detailed study of the Lipschitz-Killing curvatures of Riemannian manifolds is presented as well as a complete modern version of Chern's intrinsic proof of the Gauss-Bonnet-Chern Theorem for compact manifolds with boundary.