The emergency services were called after the car was driven through the Ship Inn car park and over the cliff.
Police said they did not believe there were any suspicious circumstances and a file is being prepared for the coroner.
In a statement they said: “Police and emergency services were in attendance this morning at the beach in Bridlington close to Sewerby following the discovery of a deceased woman in a vehicle.
“A call came into police just before 7.30am today.
“Initial enquiries suggest there are not thought to be any suspicious circumst