Firefighters from Shropshire Fire & Rescue Service's specialist 'rope rescue team' were needed to retrieve the dog after it had fallen 20 metres down a cliff at Titterstone Clee Hill.
One firefighter descended from the top of the cliff using ropes, before rescuing Chester and safely delivering him to his owners at the bottom.
Scott Bishop, station manager based at Shrewsbury Fire Station had attended the incident and said Chester had been stuck for around an hour before they had arrived.
He said efforts from his owners to coax him to safety had proved fruitless, with the assistance of the fire service the only option left to rescue the stranded pooch.
Mr Bishop said: "The owner said Chester had gone straight over the side and they had spent about an hour trying to coax him back with food but with no luck.
"When we got there we found we could not climb up to him or down so we had to request a special team from Shrewsbury who are rope trained and used a twin line to get to the dog from the top then continued to the bottom to hand him back to his owners."
The crews had been called to the incident near the satellite station on Tuesday shortly before 11.28am.