Police said the man had been with a group of four others having a campfire and drinking alcohol in the woodland at the bottom of the cliffs on Royal Albert Drive on Saturday afternoon.
The man climbed up the cliffs but then could not get down.
A spokesperson for North Yorkshire Police said: "As a result, North Yorkshire Fire and Rescue Service were called along with the local coastguard team to join the police on scene.
"After a period of time, the male was brought to safe land where he was checked by paramedics from the NHS.
"Once his safety was secured, all of the group were given Covid-19 tickets along with firm words of advice.
"This is a serious example of how we must all follow the Government's advice and stay alert.
"Numerous emergency services' time was spent by four services and lives were put in danger to rescue a male who refused to follow the advice.
"Scarborough Police are urging people to take this as a serious warning and encourage people to follow all of the advice by the Government to save lives by staying alert."