The RNLI and coastguards rescued the man using thermal imaging technology near Skinningrove in North Yorkshire on Friday, in a major operation that also involved police, mountain rescue and members of the public.
Crews were unable to find the man’s terrier at the time, but one of the RNLI volunteers involved, Ed Thomas, had more luck when he went back to the site on Monday with his own dog, Olly.
He said: “When the search finished on Friday night, of course we were delighted to have found the missing man. But the fact his dog was missing left a real bittersweet taste.
“So when I went for my walk on Monday morning I deliberately went in the direction of the rescue with the faint hope that I might find the Jack Russell.”
Mr Thomas said he was “fearing the worst” but managed to locate the dog trapped under rocks when Olly reacted to a nearby bark.
“I went over towards to what looked like a recent rockfall,” he said.“Peeping out a small gap in the rocks I saw a little face staring back at me. It was the Jack Russell!”
Mr Thomas called two other volunteers to help him move the rocks so they could free the dog, who was “in a bit of distress”.
“As soon as we got the rock off his leg he settled down and we were able to start walking back towards Saltburn with him,” he said.
The dog has now been returned to his owners after being given the all clear by a local vet.