"The guys had gone down a few days ago and couldn't find it," said Napier firefighter Mark McGill.
"The owners saw it go over the top [and disappear]."
The dog appeared to have fallen about 50m down a steep slope before falling 20m down a vertical cliff and hitting some shrubbery on a bushy ledge.
It had injuries to its back legs and McGill said if it had fallen the further 20m to the bottom of the cliff it probably would have died.
"[He was] very lucky indeed to be alive."
McGill said the dog was very happy to see his rescuers after his days-long ordeal.
"One of our guys went down, put it inside a bag and took it down to the bottom of the hill."
The crew member scaled the side of the hill using high-angle rescue lines and a harness, which is essentially like abseiling gear.
The dog's owners came out to oversee the rescue operation.
"They were really happy they were up there the whole time we were doing the rescue."
The dog has been taken to a local vet for treatment.