About 4pm, on November 13, Stuart Griffiths and his wife travelled by four-wheel-drive to an area of the Penrose State Forest known as the 'Cave'.

A statement released by police said it's believed the 28-year-old woman was walking the couple's dog on a lead behind her husband along a cliff top when she slipped and fell over the edge, dragging the dog with her.

The man ran back to his car to call 000.

Police from Goulburn Local Area Command and NSW Ambulance paramedics attended the scene and found the woman deceased at the bottom of a 12-metre sandstone cliff face. The couple's dog survived the fall.

A post mortem examination will be carried out in coming days to determine the cause of her death.

At this stage, police are not treating the woman's death as suspicious.

Investigating officers will prepare a report for the information of the NSW Coroner.