The 31-year-old woman, whose name was not reported, was waiting for a bus outside Atomic Wings at the Blue Room Grill at East 60th Street and Second Avenue Friday night when the incident happened, the New York Post reported.
"It happened so fast she did not scream or anything. Everybody in the bar got up to look," said witness Daniel Crumity.
Fire Chief Thomas Jemmott said the woman had to be pulled out using "high-angle rescue unit," which resembles a crane with cargo netting.
"She is a very large person, but we were able to secure her and stabilize her and lift her out of the hole," Jemmott said.
The woman, who is from Rochdale, Queens, was transported to a local hospital and treated for minor injuries, the New York Daily News reported.