The two were left behind on Sunday after a 12-hour rescue mission that was called off at midnight.
The two men, with a third herdsman, were looking for lost cattle when they slipped down a gorge in the mountainous terrain.
One herdsman was rescued and taken to hospital with minor injuries and bruises on Sunday.
The men were said to be working on a farm in the Blinkwater area, about 25km north of Fort Beaufort.
Provincial health spokesman Sizwe Kupelo said yesterday the other two herdsmen had contacted rescuers by cellphone and walked out of the gorge later with the help of police.
Neither one was injured.