The drama happened at Robin Hood's Bay at around 5.20pm on last night (Thursday).

The two adults and two young boys were eventually taken to safety by Whitby Inshore Lifeboat.

While this incident was ongoing Robin Hood's Bay Coastguard Rescue Team also found two others that had been cut off by the tide and walked them to safety.

Humber Coastguard Watch Manager Drew Mahood said: "The family that were rescued this afternoon were unaware of the important safety measures you need to consider before you set out on a coastal walk.

"We have many incidents where people get cut off by the tide in Robin Hood's Bay and we strongly advise members of the public to check the tide timetables before they set off as tides can come in very quickly and you may find yourself in very real danger.

"If you do get cut off by tide, or you see someone in danger at the beach, dial 999 and ask for the coastguard."