The four adults and one child were saved after getting cut off under the East Cliff on the North Yorkshire coast yesterday morning (Monday).
Whitby Coastguard Rescue Team were called by Humber Coastguard operations centre, with colleagues at Staithes also called for back up.
Two coastguards made their way out to the trapped family, deciding that the safest way to rescue them would be by inshore lifeboat.
Whitby RNLI subsequently launched one of its lifeboats to assist the rescue operation.
Coastguards managed to help the family down from the rocks and into the lifeboat, taking them back to dry land.
A spokeswoman for Whitby Coastguard Rescue Team said: "Whilst we want everyone to enjoy their activities at the coast, but please ensure that you are well prepared. In particular remember to take appropriate equipment for the conditions including sturdy shoes or boots and check the weather forecast and tide times before you set out.
"If you see anyone in trouble on the coast dial 999 and ask for the coastguard."