Cleaning a vaulted ceiling doesn't need to be dangerous or take a long time. Many people are uncomfortable climbing ladders to clean their vaulted ceiling. And if there's a lot of area to cover, it requires you to move your ladder constantly. If you take your vaulted ceiling cleaning in steps, you should be able to reach anywhere on your ceiling, get it clean, and do so without having to climb a ladder or take hours out of your day.
Put on a pair of goggles to protect your eyes from debris that might fall from the ceiling as you clean it.
Turn off any ceiling fans at the power source in case you accidentally switch them on while cleaning them.
Using a telescoping duster which can be picked up at most department or home improvement stores, dust the cobwebs and debris off of the ceiling beams and any ceiling fans you have installed.
Attach a piece of PVC pipe to the end of a vacuum cleaner hose. If your vaulted ceilings are more than a 6 foot reach while you're standing, make sure to get a piece of PVC pipe long enough to reach.
Seal the PVC pipe to vacuum hose connection with duct tape.
Turn on the vacuum and remove any debris that the duster couldn't get.
Remove the duct tape and PVC pipe from the vacuum, and then use the vacuum to clean up any debris that fell from the ceiling to the floor during cleaning.