Cleveland Police were called just before 7pm on Friday evening to a report of a body at Huntcliff in Saltburn.
Officers and Coastguard colleagues attended the scene and found the bodies of two 17-year-old boys at the cliffs.
Police say enquiries are ongoing to establish the circumstances of exactly what happened.
The families of the boys are being supported by specialist officers and our thoughts remain with them at this difficult time.
Any witnesses who may have been in the area of Huntcliff around the time of the incident are asked to contact Detective Sergeant Paul Hodgson from Cleveland Police Major Crime Team on the non-emergency number 101.
Flowers have been laid at the scene where two teenagers fell to their in Saltburn.
A school attended by two teenagers found dead at the bottom of cliffs in Saltburn say they are "shocked and saddened" by the tragedy.
Two teenagers found dead at the foot of a sheer drop at Huntcliff have been named as 17-year-olds Alex Yeoman and Harry Watson.