The pair, who were from Worcester and were on a camping holiday in the area, had managed to climb approximately eight feet up the cliff, before using their mobile telephone to call the emergency rescue services for help.
The lifeboat crew rescued the two, who were "shocked" by the incident, and their pet dog who was with them, and landed them all safely ashore at Wiseman's Bridge.
Local coastguards also responded to the emergency call which was received shortly before 5.30 pm.