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A cliff was a high, steep land feature.
On Earth, the Doctor's TARDIS materialised on a cliff, then fell into the sea when part of the cliff broke off. However, from the perspectives of the First Doctor, John and Gillian, for whom time was in reverse, the TARDIS rose up out of the sea and the piece of cliff reattached itself. (COMIC: Time in Reverse)
In 1970s Cornwall, Romana was lured to a cliff and pushed off it by Cessair of Diplos, who was disguised as the Fourth Doctor. She was rescued by the real Doctor and Amelia Rumford. (TV: The Stones of Blood)
On Dido in 2493, Bennett, disguised as Koquillion, threw Barbara Wright off a cliff. Bennett later fell off a cliff to his death while trying to get away from the two surviving Dido people. (TV: The Rescue)
On Peladon in 3885, the Third Doctor's TARDIS materialised on a cliff. The Doctor and Jo Grant exited safely, but the TARDIS tumbled off the cliff. However, King Peladon had some his men bring the TARDIS up to the citadel. (TV: The Curse of Peladon)
On one planet, the Doctor's TARDIS materialised at the foot of a cliff. It was then taken away by a giant lizard, forcing the First Doctor, John and Gillian to climb up the cliff. (COMIC: Lizardworld)