Have you considered slope (i.e., Spatial Analyst Tools > Surface > Slope --> input your DEM raster, specify your output raster name, select whether you want slopes in degrees or as a percentage, and whether you want to exaggerate the elevation by a particular Z-factor)? Your cliff would show up among the steepest slopes. Choose an appropriate colour ramp or reclassify your values to whatever slope ranges you wish to categorize them as.
