Emergency crews received a call just after 7pm from a member of the public fishing at Cowbar.
The member of the public said they saw lights part way up the cliff at Boulby and believed people could be in potential danger or distress.
As the rescue team arrived it became apparent that those believed to be in danger had been fishing and had managed to make their own way to safety.
Due to recent landslips the access point used by people fishing has become partially covered with mud and access is increasingly challenging.
A spokesperson said: "Thank you to the gentleman for doing the right thing, dialling 999 and asking for the Coastguard. We are pleased to say that on this occasion our Search and Rescue capabilities were not required.
"For coastal and cliff emergencies, dial 999 and ask for the Coastguard."