The girl was badly injured in the fall at the Blue Dolphin camping site between at Filey before 7.30pm.
North Yorkshire Police and the Coastguard were despatched to the scene and the girl was airlifted to Hull Royal Infirmary.
A lifeboat crew was also called out but was not needed as the girl landed on land and not in the sea.
A post on social media website Twitter by Defence Press Agency showed a picture of the rescue.
It described it as an “historic moment as new Coastguard helicopter Rescue 912 recovers its 1st casualty from Filey Brig”.
It is not known how the girl came to fall from the cliff.
The Blue Dolphin site is run by Haven, described on its website as “Britain’s largest provider of domestic holidays with family holiday parks around the UK”.
In a statement the Maritime and Coastguard Agency said: “UK Coastguard were contacted this evening by a father who witnessed his teenage daughter accidently falling over a cliff edge just North of Chimney Hole, Filey, North Yorks.
“Coastguard Rescue Teams training nearby were abe to get on scene within 10 minutes. Specially trained cliff technicians were able to descend to the girl and administer first aid until the Coastguard Rescue helicopter arrived on scene.
“Coastguard Rescue Teams from Filey, Scarborough, Burniston, and Bridlington attended along with the inshore lifeboat from Filey. The Coastguard Rescue helicopter from Humber transferred the casualty to Hull hospital.
“If you are out on the coast this Easter break make sure that you are properly equipped for walking along coastal paths. In particular remember to wear sturdy shoes or boots and check the weather forecast before you set out. Do not attempt to climb up or down cliffs unless you are properly equipped and trained to do so. Do not attempt to climb cliffs as a short cut back to the top. Do not attempt self-rescue.
“If you get into difficulty, call 999 and ask for the coastguard. Carry a mobile phone, tell people where you are going and when you expect to return.”