Family members say the teen, John Graniello of Fort Lee, was with a 16-year-old Edgewater girl when he fell around 9:40 p.m. Friday.
The accident occurred in the park's Fort Lee section, just north of the George Washington Bridge.
The girl told authorities they had been walking in the area and that Graniello had fallen backward from the cliff.
Investigators say the teen fell after he went past a safety railing near the edge of the cliff.
Their rescue efforts were hampered by the remote location where the accident occurred and various hazards in the area.
The death is not considered suspicious, but remains under investigation.
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