The woman, who was in her 20s, has not been identified but was described as 'vulnerable' after she went missing on Saturday evening in the Great Ayton area.
Her body was found in the early hours of Sunday morning near Captain Cook's Monument on Easby Moor.
Both North Yorkshire Police and Cleveland Mountain Rescue Team searched for her.
The woman’s family have been informed. There are not believed to be any suspicious circumstances surrounding her death and a report will be prepared for the coroner for an inquest at a later date.
Twenty mountain rescue volunteers took part in the search and it was one of their four groups that found the body after around three and a half hours.