It took me 7 minutes to solve this (I feel kind of dumb). We are looking at the problem in a scalar sense (since we are looking at speed) so this means you need to factor in both vertical velocity and horizontal velocity. The equation to use is one of the big five: v^2 (final velocity) = v^2 (initial velocity) + 2ad.
So plug in: 3m/s (dogs vertical speed) into v^2 (initial velocity); 10m/s^2 (gravity) into a; and 4m (distance of lower cliff from upper cliff) into d.
This will turn up:
v^2 (final) = (3)^2 +2(10)(4)
v^2 (final) = 9+80
v^2 (final) = 89
v (final) = 9.43
This is the answer.