WhatsApp have published further details for users[1], as well as a technical whitepaper[2] explaining the implementation. There's also a blog post[3].
[1]: https://www.whatsapp.com/security/
[2]: https://www.whatsapp.com/security/WhatsApp-Security-Whitepap...
[3]: https://blog.whatsapp.com/10000618/End-to-end-encryption