We present a determination of the magnitude of the Cabibbo-Kobayashi-Maskawa matrix element $|V_{cb}|$ using the decay $B\to D\ell\nu_\ell$ ($\ell=e,\mu$) based on 711 fb$^{-1}$ of $e^+e^-\to \Upsilon(4S)$ data recorded by the Belle detector and containing $772 \times 10^6$ $B\bar{B}$ pairs. One $B$ meson in the event is fully reconstructed in a hadronic decay mode while the other, on the signal side, is partially reconstructed from a charged lepton and either a $D^+$ or $D^0$ meson in a total of 23 hadronic decay modes. The isospin-averaged branching fraction of the decay $B\to D\ell\nu_\ell$ is found to be $\mathcal{B}(B^0 \to D^- \ell^+ \nu_{\ell})=(2.31\pm 0.03(\mathrm{stat})\pm 0.11(\mathrm{syst}))\%$. Analyzing the differential decay rate as a function of the hadronic recoil with the parameterization of Caprini, Lelouch and Neubert and using the form-factor prediction $\mathcal{G}(1)=1.0541\pm 0.0083$ calculated by FNAL/MILC, we obtain $\eta_\mathrm{EW}|V_{cb}|=(40.12\pm 1.34)\times 10^{-3}$, where $\eta_\mathrm{EW}$ is the electroweak correction factor. Alternatively, assuming the model-independent form-factor parameterization of Boyd, Grinstein and Lebed and using lattice QCD data from the FNAL/MILC and HPQCD collaborations, we find $\eta_\mathrm{EW}|V_{cb}|=(41.10 \pm 1.14)\times 10^{-3}$.
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