Cliffed coasts are common landforms found worldwide, but their precise spatial distribution and the nature of associated deposits may present regional gaps. This works presents a geological and geomorphological study of the Brazilian semi-arid coast (∼900 km), which was carried out on coastal cliffs with the aim of addressing three important knowledge gaps: i) spatial distribution of coastal cliffs, analyzed using topographic data from SRTM, LiDAR and field surveys, ii) the lithology and ages of the deposits, investigated through sedimentological analysis and OSL dating, and iii) origin of the cliffs, explored through relations with global and regional sea-level curves. The supply of terrigenous sediments to the western equatorial Atlantic coast was also considered. Coastal cliffs were identified along 235 km of the coastline, represented mainly by inactive cliffs (∼170 km). These cliffed coasts are composed mainly by poorly sorted siliciclastic sandstones and conglomerates, deposited in the Late Pleistocene. The depositional phases correlate with abrupt climate changes, due to pulses of terrigenous supply to the continental margin during the Heinrich Events. The formation of marine cliffs in these deposits occurred in the mid-Holocene, as sea level reached current elevation (msl) in ∼7 ka and 2-4 m above in ∼5.5 ka. This previous higher sea-level supports the widespread occurrence of inactive cliffs. The findings in this work contribute to i) improved mapping of coastal landforms, with higher resolution data demonstrating that previous works underestimated the presence of coastal cliffs; ii) the coastal cliffs are cut in Pleistocene sediments instead of older, Miocene deposits of the Barreiras Formation as previously assumed; iii) cliff formation due to marine erosion occurred in the mid- to- late Holocene; iv) the siliciclastic sediments that compose the cliffs are correlatable to marine sediments found in adjacent offshore areas, highlighting the role of abrupt global climatic changes in the Pleistocene in shaping contemporary coastal landscapes.