Both Whitby's and Ravenscar's coastguard teams and Whitby RNLI's lifeboats were deployed just before 4pm to reports several people were cut off by the tide south of Robin Hood's Bay.
When they arrived, coastguards found those who had been stranded had managed to get themselves to safety.
"Please ensure that you are well prepared for whatever activity you intend to undertake at the coast," Whitby Coastguard posted on social media.
"In particular, remember to take appropriate equipment for the conditions and check the weather forecast and tide times before you set out.
"If you get into difficulty or you see anyone else in trouble on the coast dial 999 and ask for the coastguard."
A message from the editor
Thank you for reading this story on our website. While I have your attention, I also have an important request to make of you.
In order for us to continue to provide high quality and trusted local news on this free-to-read site, I am asking you to also please purchase a copy of our newspaper.
Our journalists are highly trained and our content is independently regulated by IPSO to some of the highest standards in the world.
The dramatic events of 2020 are having a major impact on many of our local valued advertisers and consequently the advertising that we receive. We are now more reliant than ever on you helping us to provide you with news by buying a copy of our newspaper.
Jean MacQuarrie, Editor-in-Chief