Emergency crews battled high tides for four hours before managing to free the girls from their car.
Two were then winched to safety and the other two rescued from sea by a lifeboat team.
The group of girls were driving down a coastal road at about 7pm on Monday when the car shot off the road on a tight bend and landed on rocks below.
Incident commander Clive Russell said: "It's a huge drop and an amazing escape.
"We could have been talking about a terrible tragedy and instead we're talking about a great success."
Broken ankle
One of the girls broke her ankle the others have minor injuries, but it's not thought any of the injuries are serious.
It's thought the driver had passed her test just hours before the accident.
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