Joy Welling, 33, was identified as the victim in the fall.
The Orange County Fire Authority was called to the scene around 12:30 p.m. Saturday near the Blue Jay campground.
According to authorities, Welling and another hiker were getting ready to rappel down a waterfall when she fell. Welling's companion called for help, and her body was recovered a few hours later by a helicopter rescue crew.
Responders found the companion uninjured.