Pip, a Jack Russell, doggy paddled for 40 minutes before the Coastguard arrived to rescue him.
His owner had taken him for a walk at Latheronwheel, 16 miles south of Wick, around 2045 GMT on Tuesday when the dog strayed too close to the cliff edge.
Coastguard officers from Wick and Dunbeath scrambled down the sloping cliff-face to lift Pip, who was cold but uninjured.
A Coastguard spokesman said the dog was shaken but looking forward to being warmed up beside his owner's fire.
Jack Russells are renowned as a hardy breed and a five-month-old puppy survived falling down a disused mine shaft in Devon earlier this month.
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