The animal’s owner raised the alarm after her pet disappeared at Dunnottar Castle south of Stonehaven in Aberdeenshire at around 7pm on Sunday.
Stonehaven and Montrose Coastguard Teams and Stonehaven RNLI lifeboat went to the scene.
Bailey the dog managed to make his way down to the bottom of the cliff and was lifted into the lifeboat and taken back to Stonehaven.
He was not injured and was reunited with his owner.
In a post on its Facebook page, RNLI Stonehaven wrote: “Bailey the dog disappeared when his owner was walking along the cliffs at Old Hall Bay south of Dunnottar Castle. Our guys estimated that lucky Bailey fell about 20 metres.
“Once back in the boat he was cold and shocked but very well behaved considering his ordeal.
“We are pleased to report a safe return for the daring doggy and a teary owner expressing her thanks to the volunteer lifeboat crew, local coastguard and Police Scotland who all assisted.”