The body of a woman in her 50s was found at the bottom of Malham Cove on Wednesday.
North Yorkshire Police say the woman was found by walkers at around 1.20pm on Wednesday.
They asked the Cave Rescue Organisation to help them recover the body because of its location at the foot of the Cove.
The Clapham-based Cave Rescue Organisation (CRO) says it was asked to help North Yorkshire Police recover the body.
Members of the team carried the female over what it describes as a 'very fast-flowing beck' before getting her into their vehicle.
She was then driven down to the village and handed over to an undertaker.
In the meantime, a small group of CRO members went to the top of the Cove to look for any personal possesions that may have been left there.
Malham Cove is about 230ft high.
A spokesman for the police said officers believe there are no suspicious circumstances surrounding her death.
They will prepare a report for the coroner.
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