The woman, who had been in the care of East Sussex mental health services, died on Sunday at Beachy Head near Eastbourne.

The woman, who was in her 30s, had asked to be taken to the popular beauty spot by her support worker but they became separated during the visit.

The support worker made a 999 call around 1245 BST.

The coastguard were called to the scene after the fall and the woman was airlifted to Eastbourne District General Hospital, where she was pronounced dead.

'Care plan'

Inspector Mark Powers of Sussex police said: "The lady was known to local mental health services who were actively working with her, and had been visited on Saturday and again today as part of her care plan.

"She had asked to go to the area for a coffee, something hundreds of people do safely every day.

"They did not go close to the cliff edge and remained close to the road."

Insp Powers said: "The lady somehow left her support worker, who was unable to prevent this tragedy from taking place."

Inquest set to open

The coroner has been informed and an inquest is expected to be opened later this week.

An East Sussex County Council spokeswoman said an inquiry into the circumstances surrounding the woman's death was underway.

Lynne Evans said: "An immediate investigation was launched after this incident, and will continue on Monday.

"Obviously our thoughts are with the family of the deceased and they have our deepest condolences."

Dozens of people have committed suicide at Beachy Head in the last 10 years.

The 250ft cliff vies with the Clifton suspension bridge in Bristol and the Orwell bridge near Ipswich for the unenviable title of Britain's favourite suicide spot.