The body of the woman was found at around 11pm on Monday night at the bottom of the cliffs, after Filey and Bridlington RNLI volunteers scoured the area after her family raised the alarm.
Police are not treating the discovery of the West Hull woman, who was in her 50s, as suspicious.
But the recovery mission was plagued with problems - with a helicopter forced to make an emergency cliff-top landing after hitting a bird.
And a coastguard spokesperson admitted Flamborough’s RNLI team were called into help due to “difficulties” in the recovery.
They added: “After a protracted search the casualty was located and Filey’s boats were tasked to recover.
“Unfortunately on this occasion the outcome wasn’t good and our thoughts go to the family and friends of the deceased.”
The body has been taken to Hull Royal Infirmary for formal identification. A post mortem examination carried out, and a police spokesperson said a file will be prepared for the coroner.