A colour LiDAR (Light Detection And Ranging) dataset was obtained at the cliffs at Happisburgh, Norfolk, UK, over a period of 9 months (April 6, 2019 to December 23, 2019). The scans were taken daily for 90% of the study period using a FARO S350 TLS (Terrestrial LiDAR Scanner). Scans were carried out from two locations consecutively, positioned at around 40 m from the cliffs. The full scans are also split into smaller subsets: "slices", 1 m wide bands oriented perpendicular to the shoreline, and "grids", smaller areas of the beach, to assist analysis. The numerical model SWAN (Simulated Waves Nearshore) (v41.31a), run in non-stationary mode, was used to simulate hourly sea states at the study site to aid in the context of environmental conditions. Wind parameters from the ERA5 reanalysis and bathymetry from the OceanWise 1 arc second digital elevation model (DEM) were used to force the SWAN model, and obtained wave parameters in 4x6 km rectangular grid around the scanning site, with a 10m interval, and a 26x26 km square grid encompassing the smaller grid, with a 100 m interval. The LiDAR scans were also projected into both colour and intensity images, viewing the shoreline from above. This research was funded by the UK Natural Environment Research Council (NE/M004996/1; BLUE-coast project). The on-location LiDAR Scanning and Technical R&D operated by ScanLAB Projects Ltd was funded by Innovate UK's Audience of the Future Program (Multiscale 3D Scanning with Framerate for TV and Immersive Applications project). The first 6 months of LiDAR scans (April to September 2019) were funded by Innovate UK, and this project was continued by the NERC BLUE-coast funding for the last 3 months (October to December 2019).