A rescue operation involving police, coastguards and the Tenby lifeboat crew was launched on Sunday evening after a woman climber got into difficulties at Lydstep.
The alarm was raised shortly after a 6 pm by a member of the public who was concerned after seeing a rucksack and equipment on the headland and an abseil line over the cliff at Mother Carey's Kitchen.
As a result of the information received, police attended and the assistance of the coastguard team was requested.
On arrival, the coastguard cliff rescue team met with a 19-year-old man from Swansea who had been climbing at the location with a female companion.
He explained that his co-climber was still attached to his climbing line, but was unable to complete the climb to the top of the 120-foot cliff due to the failing light.
Tenby lifeboat was also called out to help illuminate the cliff face and one of the coastguard team was lowered down the cliff to help the 20-year-old woman.
She was then secured in a rescue harness and brought safely to the top.
Although not injured, the woman, who was also from Swansea, was hypothermic and was advised she should attend Tenby Cottage Hospital for a check-up.