The Santa Cruz County Sheriff's Office says 55-year-old Steven Johnson was found in the Santa Rita Mountains south of Tucson late Monday.
Cause of death hasn't been determined yet, but officials say Johnson was covered with stings when he was found.
Johnson was last seen Friday when he went hiking, and friends became worried when he didn't go to work on Monday.
Search and rescue teams found both Johnson and his dog dead. The dog was on the top of the cliff.
Sheriff's Lt. Raoul Rodriguez says Johnson may have disturbed bees by hammering a spike into the cliff.