Rolo, a  chocolate Labrador, was saved after two coastguard rescue teams and an RNLI lifeboat were called in, near Brixham.
She was hauled up in a "dog rescue bag" on a line and reunited, uninjured, with her "very happy owners," the Maritime and Coastguard Agency (MCA) said.
The agency has urged owners to keeps their dogs on leads when they are walking near cliffs.
More on Rolo, the rescued Labrador, and other Devon news
A dog was rescued after falling "up to 60ft (18m)" down a cliff in Devon.