The 29-year-old woman toppled down the steep embankment off Stockwell Lane, Knaresborough, at around 12.50am yesterday.
Knaresborough firefighters attended and pulled the victim to safety 30 minutes later. She was unharmed.
A North Yorkshire Fire Service spokeswoman said: "We were called to reports of a 29-year-old woman who had fallen 30ft down a banking.
"She is believed to have been a little worse for wear."
She added: "She was left in the care of the police to take her home safely."