Home Office data shows 215 such calls were made to Nottinghamshire Fire and Rescue Service in the year to March – 30 fewer than the year before.
They included 65 calls to help animals who found themselves in trouble and 150 callouts to remove objects from people.
Area Manager Bryn Coleman, service head of prevention, protection and fire investigation, said: “The role of a firefighter is incredibly varied, and we are proud to respond to rescue people or animals in their time of need.”
Across England, the number of times firefighters were drafted in to help animals increased from 4,724 to 5,159 over the year.
The most common reason was to help a trapped pet, which was quoted in a fifth of incidents attended nationally, closely followed by rescuing pets from a height.
‘Animal-lovers like us’
Animal charity the RSPCA said its staff rescues thousands of stuck or trapped animals every year.
Steve Bennett, deputy chief inspectorate officer, said: "While our staff are trained and equipped to help a lot out of trouble, there may be some situations where they need a helping hand to ensure both the rescuers and the animals remain safe.
“We can request the assistance of the fire service just like any member of the public and we're incredibly grateful to crews who are animal-lovers like us and will always lend a hand to help an animal in need if they’re available.”
The number of people requiring help with stuck objects also increased nationally, from 5,311 to 5,632. Two-thirds of incidents saw someone needing help removing a ring, while trapped limbs accounted for 16 per cent of calls.
Overall, Nottinghamshire firefighters attended 9,027 incidents in 2020-21 – including 2,953 fires – down from 9,687 the year before.
They included 2,284 non-fire related incidents, which may be related to flooding, assisting people trapped in lifts and road accidents.
The National Fire Chief's Council said a drop in the number of incidents nationally, from 558,000 to 518,000, was to be seen in the context of the restrictions brought in during the coronavirus pandemic.
Mark Hardingham, NFCC chairman, said: “Despite the huge amount of positive and proactive work carried out, incidents, do still happen.”