Given Miranda's low gravity, it would take about 12 minutes for a thrill-seeking adventurer to fall from the top, reaching the bottom at the speed of a racecar -- about 200 kilometers per hour.
Even so, the fall might be survivable given proper airbag protection.
The above image of Verona Rupes was captured by the passing Voyager 2 robotic spacecraft in 1986.
How the giant cliff was created remains unknown, but is possibly related to a large impact or tectonic surface motion.