Two adults and two dogs were rescued from the 200-foot sandstone bluffs at Fort Funston on the western edge of San Francisco near sundown on Saturday, firefighters said.
Firefighters were called to the cliffside north of the hang glider deck just before 6 p.m., the San Francisco Fire Department said on social media.
Firefighters used coastal rescue units as well as a drone to assist in the rescue, the department said.
An adult bystander was also assisted off the cliff after helping with a dog rescue before firefighters arrived, the department said.
There were no injuries to the humans or dogs, firefighters said.
Fort Funston, part of the Golden Gate National Recreation Area, is a former coastal defense installation and Nike missile site where dogs can run off leash.