Horrifying photos show the dangerous camping spot a family chose, just a few feet away from a crumbling 280ft (85m) cliff edge.
HM Coastguard were called out to the area in North Yorkshire, which is well known for having landslips, after a member of the public spotted the tent and called 999 last Saturday (27 February).
Coastguards said the family had 'no idea of the danger' they had put themselves in by pitching up where they did.
After arriving on the scene emergency service personnel found the couple and their child had set up their tent around six feet from the cliff's edge.
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Coastguard rescue officers from Staithes and Whitby attended the scene and gave the couple 'safety advice due to the dangerous location of their tent'.
Police were also called out as the campers had breached coronavirus rules by travelling to the spot.
The family had chosen a particularly dangerous spot on North Yorkshire's Cleveland Way, which is an area notorious for landslips.
Adam Turner, of HM Coastguard said: "The family were in an extremely perilous position and had no idea of the danger that they were in.
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"Cliff edges are really unstable and can easily collapse as recent landslips have shown.
"If you live near the coast and are in a position to take your exercise there in line with current Covid-19 restrictions, please take care near cliffs.
"Keep to paths and stay well back from the cliff edge.
"Check the weather and tides before you head out, wear appropriate sturdy footwear and take a fully charged mobile phone so if the worst should happen you can call 999 and ask for the Coastguard."
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In a statement, HM Coastguard NE said: "Staithes and Whitby Coastguard Rescue Teams have just returned from a call out after being paged by Humber Coastguard Operations Centre.
"Today's call was to attend a section of the Cleveland Way to issue safety advice to two adults and a child camping on the cliff edge.
"An Officer from North Yorkshire Police also attended due to breach of coronavirus restrictions.
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"Safety advice was given from Coastguard Rescue Officers due to the dangerous location of their tent, especially with recent landslips.
"If walking the Cleveland Way please stay on designated footpaths.
"If you see anyone at risk or in danger at the coast, immediately call 999 and ask for the Coastguard."
Featured Image Credit: SWNSTopics: UK News