Firefighters and Exmouth coastguards were tasked to Budleigh Salterton on Tuesday afternoon after a dog fell from the cliff near North View Road.
When fire crews from Exmouth, Budleigh and Exeter arrived at the scene shortly before 5pm they found the five-year-old pet had fallen six feet down the cliff.
The firefighters used specialist climbing equipment to reach the dog and bring her back to safety.
The owner of the pet said her dog would remain on a lead on future cliff walks.
She thanked the fire service for reuniting her with her dog.
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