Firefighters swung into action after Lizzie the dog got stuck halfway down Upper Wyche Quarry.
They used ropes to abseil down to the black and white border collie, who was trapped on a narrow ledge at the 150ft quarry.
Terry Dean, Lizzie's owner, said she was unhurt as a result of her ordeal and he was very grateful to have her back.
In fact, Mr Dean was so grateful that he took the firefighters who rescued her a large chocolate cake as a thank-you present.
Mr Dean believes Lizzie must have slipped and fallen while chasing something during their their morning walk on Beacon Hill last Friday.
He said he had been walking with Lizzie and his three springer spaniels and did not realise she was not with them until he got back to the car park.
"I couldn't find her when I went back to look but I knew she wouldn't just wander off," said Mr Dean.
Returning later to search again, Mr Dean found the hill full of firefighters involved in the rescue, but did not link them with Lizzie.
Matt Gardener, the shepherd for Malvern Hills Conservators, had heard Lizzie barking and raised the alarm.
Firefighter Roger Kirkwood abseiled down the side of the quarry to rescue Lizzie, putting her in a makeshift harness to haul her up to safety.
"The sides are steep and it would have been very difficult for her to get up or down as she was stuck on the ledge," said Sub Officer Saul Bolton.
Mr Dean arrived in time to be reunited with Lizzie immediately after the rescue.
Ironically, Lizzie is a rescue dog, who Mr Dean got originally from a dog shelter.
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