Staithes and Whitby Coastguard rescue teams went to warn the two adults and a child who had set up a tent on part of the Cleveland Way on Saturday afternoon.
They said police were also alerted because of a breach of lockdown rules.
Staithes Coastguard posted on social media: "Safety advice was given from coastguard rescue officers due to the dangerous location of their tent, especially with recent landslips.
"If walking the Cleveland Way, please stay on designated footpaths.
"If you see anyone at risk or in danger at the coast, immediately call 999 and ask for the coastguard."
Only four weeks ago, people were being urged not to try to go down the cliff to get to Port Mulgrave, between Staithes and Runswick Bay, after a dangerous landslip.
And the potential danger of a landslip was also reported earlier this year on a section of the Cleveland Way between Whitby and Saltwick Bay.
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