The four adults and a child had been cut off by the tide under the East Cliff at Whitby shortly before 11.39am yesterday (Monday).
Whitby RNLI were asked to launch their inshore lifeboat and coastguards helped the family from the rocks and into the boat.
A Whitby Coastguard Rescue Team spokesperson said: "We want everyone to enjoy their activities at the coast but please ensure that you are well prepared.
"In particular, remember to take appropriate equipment for the conditions, including sturdy shoes or boots, and check the weather forecast and tide times before you set out.
"If you see anyone in trouble on the coast dial 999 and ask for the coastguard."