Kingsbridge Police closed Fore Street on Wednesday night after a woman was found on a ledge of Lloyds Bank.
Kingsbridge Fire Station crews attended and a large platform from Crownhill was also dispatched to the scene to help in the rescue.
A representative of Kingsbridge Fire Station said: "Tonight we attended a incident in Fore Street with teams from Kingsbridge Police and the ambulance service. We also called on our colleagues and hydraulic platform from Plymouth this incident was dealt with using skills from all services.
"Fantastic driving by the [hydraulic platform] crew - with all the bunting and cables crossing the road they did not touch any!
"Thank you to the local pizza shop owner who offered us refreshments."
The road was re-opened shortly after.