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A cliff was a high, steep land feature.
Planet One had a cliff made of diamond. River Song graffitied a message for the Eleventh Doctor on the face of the cliff. (TV: The Pandorica Opens)
In 64 Italy, the Doctor's TARDIS materialised on a cliff, then fell off it. Neither it nor its crew was harmed. (TV: The Rescue, The Romans)
In 1066 Northumbria, the Doctor's TARDIS materialised on a beach near a cliff. The Monk observed this from the top of the cliff. (TV: The Time Meddler)
In 1213 on the thirteenth moon of the thirteenth planet of the thirteenth galaxy, Bob Kreesus fell over a cliff when he slipped on a banana skin. (COMIC: Triskaidekaphobia)
In late 17th century Cornwall, the Doctor's TARDIS materialised in a cave near some cliffs. (TV: The Smugglers)
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)
On Oseidon, the Fourth Doctor and Sarah Jane Smith witnessed a soldier (actually a malfunctioning Kraal android) fall over a cliff. (TV: The Android Invasion)
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)
In 2563, Bernice Summerfield fell off a cliff on Capella Four, breaking both legs. (PROSE: Walking to Babylon, Steal from the World)
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)
On Andromeda, Castrovalva was located on the top of a high cliff. (TV: Castrovalva)
On the Crooked World, the Doctor's TARDIS materialised on a cliff. It was later pushed off the cliff by the Whatchamacallit. (PROSE: The Crooked World)
In the Land of Fiction, the Master of the Land dwelt in a citadel on top of a high cliff. Jamie McCrimmon climbed the cliff with the aid of Rapunzel's hair. (TV: The Mind Robber)