Members of Staithes Coastguard were paged to a 999 call to help the group who were between 10 and 15 metres down the cliff on Thursday September 3 at 8pm.
The coastguard team said that before the call, photos of the group in danger had been posted on social media.
They said: "Despite social media being a good platform for raising awareness, please call before you post.
"We would rather be called early to prevent any further incident than be called to respond too late.
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"If you see anyone in distress or potential danger at the coast, immediately dial 999 and ask for the coastguard."