A cliff, precipice, rock face, or bluff, was a high outcropping of rock that loomed over a steep drop, such as a canyon or ocean.
In 2263 of the alternate reality, Montgomery Scott narrowly avoided death after his Kelvin pod landed on the edge of a cliff on Altamid. He managed to climb out before the pod fell into the waters below. (Star Trek Beyond)
In 2267, Yeoman Martha Landon gave the example of someone falling off a cliff as one possible way the population of Gamma Trianguli VI might decrease, necessitating replacements. (TOS: "The Apple")
In 2269, while trapped in Sarpeidon's Ice Age, Spock and Leonard McCoy were unable to see Mister Atoz's library anymore, only an ice cliff. (TOS: "All Our Yesterdays")
In 2270, Ari bn Bem reprogrammed the USS Enterprise's transporter to cause James T. Kirk and Spock to re-materialize just next to a cliff, just over the water, while the rest materializing safely on the cliff. Once materialized, the captain and first officer proceeded to fall into the water. (TAS: "Bem")
Tom Paris intended a bluff overlooking the ocean to be part of the Irish seacoast section of his Fair Haven holoprogram. (VOY: "Fair Haven")