The animal was rescued by Flamborough RNLI who launched at 12.26pm yesterday.
The labrador retriever was found in the water off Danes Dyke and brought back to its owners on the beach.
A spokesperson for the RNLI team said: "A member of the crew reassured the owners that they had done the right thing in contacting the coastguard rather than entering the water and attempting a rescue themselves."
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.