Little and Broad Haven RNLI lifeboat crew and a coastguard rescue team were called after the owner reported him going over a cliff in the Goultrop area.
The spaniel, called George, was found stuck on a ledge about 40ft (12m) up from the beach on Sunday.
He was lowered down to the lifeboat before being reunited with his owner.
A dog was rescued by lifeboat volunteers after becoming stuck on a cliff in Pembrokeshire.