Whitby Coastguard Team and Ravenscar Coastguard Team were called to help the Collie near Boggle Hole just after 8am on Saturday.
The dog had gone over the cliff top and was half-way down the cliff.
A coastguard team member was lowered down to the animal using a rope and then both were brought back up to the cliff top so the pet could be reunited with its owners.
A spokesperson for Whitby Coastguard Team said: "We would always advise keeping your dog on a lead near cliff edges.
"However, it is worth noting that the owners did exactly the right thing in the circumstances and, rather than attempting to rescue the dog themselves, they called the coastguard. "
Anyone who sees someone in trouble on the sea, shore or cliffs around the coastline should call 999 and ask for the coastguard.
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