According to authorities, a woman climbing a cliff in a bathing suit got stuck about 50-feet above rocks just east of Westward Beach around 4:15 p.m.
Two lifeguards, who were radioed by an ocean rescue boat, attempted to save the woman but ended up getting stuck themselves. Nearby climbers were able to rescue the barefoot woman with a rope.
The Los Angeles County Sheriff's Malibu Search and Rescue Team rescued the two lifeguards and lowered them safely to the sand below.
No one was injured.
The incident is the second rescue at Pirates Cove this year.
The Associated Press contributed to this report.