The coastguard were called out just before 1pm to help the trio who were stuck under the old coastguard lookout near the East Pier.
Lifeguards and Whitby's inshore lifeboat helped find the three people and members of the coastguard team made their way out across the rocks to them.
The coastguards then helped them back across the rocks to the East Pier where they were given casualty care and safety advice.
A spokesperson for Whitby Coastguard said: "Please ensure that you are well prepared for whatever activity you intend to undertake at the coast.
"In particular remember to take appropriate equipment for the conditions and check the weather forecast and tide times before you set out.
"If you see anyone in trouble at sea or on the coast, dial 999 and ask for the coastguard."
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