Police say 49-year-old Julio Beltran walked around a bridge wall in Alpine, lost his footing and slipped over the edge.
Emergency responders repelled down the cliff and lifted Beltran to safety.
Officials say Beltran suffered multiple traumatic injuries, and was taken to Hackensack Hospital.
His condition is unknown at this time, but he is expected to survive.
Palisades Interstate Parkway Police say Battalion Chief Chris Ipek of the Fort Lee Fire Department received minor injuries after he fell several feet while scaling the cliff.