Coastguard teams from Scarborough, Filey and Bridlington, plus two lifeboats, were called to assist crews from North Yorkshire Police and Yorkshire Ambulance Service.
A spokesman from Scarborough Coastguard said: “Teams were called to assist the police in a search for a person who had gone missing from the Blue Dolphin holiday park.
“A search plan was developed on the information to hand with a shore search party and cliff top party undertaken.
“Fortunately, as the search commenced we received further information that allowed the search area to be narrowed.
“The team were able to ask the Filey inshore lifeboat to investigate an area where the casualty was located at the base of the cliff.
“In difficult conditions the inshore lifeboat managed to get a crew member ashore as the cliff bottom search party made difficult progress to the casualty location.
“On arrival it became apparent that the casualty had fallen in excess of 150 feet from the cliff top and was now located in an isolated and challenging environment.
“Casualty care was administered and a plan for evacuating the casualty by inshore lifeboat was developed with a back up option of recovery by rope rescue technician, up the cliff face, should sea conditions dictate.
“Our coastguard colleagues from the Bridlington team were called to provide assistance for the rope rescue. After careful assessment the casualty was taken by sea from a difficult location and transferred to the all weather lifeboat. “After a short sea journey to Scarborough the casualty was transferred to a waiting ambulance. We wish the casualty a full and speedy recovery.”
The girl is believed to have suffered a knee injury.
Coastguard representatives are now advising people to take care near the cliffs.
If you see anybody in danger or difficulty on the coast then dial 999 and ask for the coastguard.