This is the dramatic moment when a hero holidaymaker put his life on the line to rescue a precariously-perched dog from peril.

North Norfolk News: Derek Shaw helps Millie to safety after she got stuck on the cliff edge. Picture: BEVERLEY SALLIS PHOTOGRAPHYDerek Shaw helps Millie to safety after she got stuck on the cliff edge. Picture: BEVERLEY SALLIS PHOTOGRAPHY (Image: Archant)

Derek Shaw, 54, was walking along the clifftop beside Royal Cromer Golf Club when he and his wife Ann, 53, heard people on the beach below shouting that a dog was stuck.

When he saw five-year-old Millie, a border collie, 6ft down the perilous cliff face, he defied danger and launched a mission to pull the pooch to safety.

He was helped by another holidaymaker, who clung to his legs and he dangled over the cliff.

He said: 'We looked over the edge and saw this dog about 6ft down. I grabbed its collar and pulled it back up to safety.'

North Norfolk News: Derek Shaw (left) from Leicester who rescued a dog off the cliffs near Royal Cromer Golf Course. Pictured with his wife Ann who was also walking along the cliff with him at the time. Picture: MARK BULLIMOREDerek Shaw (left) from Leicester who rescued a dog off the cliffs near Royal Cromer Golf Course. Pictured with his wife Ann who was also walking along the cliff with him at the time. Picture: MARK BULLIMORE (Image: Archant Norfolk 2015)

'We called 101 who put us in touch with the dog warden, who contacted the owner. It was really nice reuniting them both. The dog knew straight away and got really excited.'

Mr Shaw, from Leicester, is holidaying with his wife in Cromer, staying on Cliff Avenue.

Beverley Sallis, 59, from Tamworth in Staffordshire, was also on holiday, staying at Cromer Country Club on Overstrand Road, and helped with the rescue.

She said: 'I was walking with my husband when we saw a man dangling off the cliff.

North Norfolk News: Derek Shaw (left) from Leicester who rescued a dog off the cliffs near Royal Cromer Golf Course. Pictured with his wife Ann who was also walking along the cliff with him at the time. Picture: MARK BULLIMOREDerek Shaw (left) from Leicester who rescued a dog off the cliffs near Royal Cromer Golf Course. Pictured with his wife Ann who was also walking along the cliff with him at the time. Picture: MARK BULLIMORE (Image: Archant Norfolk 2015)

'We then looked over the edge to see the dog, it was literally clinging to the edge of a very precarious, slippy cliff.

'We helped by grabbing Derek's ankles as he pulled the dog up. The dog was quite young, but didn't seem fazed by it at all.'

Millie had been missing since 2.30pm on Monday and was rescued yesterday at 11am. It is believed that she had been on the cliff overnight.

She was being taken for a walk by owner Bobby Baker's cousin Laura Childerhouse, 19, from Swan Close, Aylsham, when she was spooked by an Alsatian and ran away.

North Norfolk News: Derek Shaw (left) from Leicester who rescued a dog off the cliffs near Royal Cromer Golf Course. Pictured with his wife Ann who was also walking along the cliff with him at the time. Picture: MARK BULLIMOREDerek Shaw (left) from Leicester who rescued a dog off the cliffs near Royal Cromer Golf Course. Pictured with his wife Ann who was also walking along the cliff with him at the time. Picture: MARK BULLIMORE (Image: Archant Norfolk 2015)

Mr Baker, 24, from Allison Street, Marsham and his girlfriend Laurel Bowes, 19, from Watton Road, Ashill, then launched a search.

Miss Bowes said: 'We contacted the police, vets, dog wardens and radio stations. We also went round giving out posters and our numbers.'

After the ordeal, she was reunited with a tearful Miss Bowes at Overstrand beach.

She said: 'I started crying when she came back. Her face when she saw me was lovely. I offered Derek money but he wouldn't take it and we can't thank everyone enough for the support in finding her.

'We had people saying they'd seen her throughout the night and I breathed such a sigh of relief when she was finally with us.

'She's now back and settled and has been asleep for most of the day.'