The Coastguard received a call at 11.56am from Humber Coastguard Operations Centre in response to reports of a dog having gone over the cliff close to Saltwick Nab.
Whitby Coastguard said: "Upon arrival at the scene, coastguards found the dog and owner on the shoreline immediately to the North of Saltwick Nab with the dog having fallen approximately 20 meters from the Tea Gardens area of Saltwick Nab.
"Due to the location, it was decided that the best method of extraction was by sea and therefore the Inshore Lifeboat (ILB) from Whitby RNLI was requested by Humber Coastguard."
Members of the Coastguard team assisted with transferring the dog and owner into the ILB for the trip to the lifeboat station.
The dog was then transported to a local vets for treatment.
If you see anyone in difficulty on or near the coast dial 999 and ask for the Coastguard.