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We propose a hierarchical pipeline paging (HPP) for multi-tier hierarchical cellular networks, in which different tiers overlay with one another to provide overlapped coverage of cellular service, and each mobile terminal can be paged in any tier of a network. Paging requests (PRs) are queued in different waiting queues, and multiple PRs in each waiting queue are served in a pipeline manner. We study HPP, hierarchical sequential paging (HSP), and hierarchical blanket paging (HBP) schemes analytically in terms of discovery rate, total delay, paging delay, and cost. It is shown that HPP scheme outperforms both HBP and HSP schemes in terms of discovery rate while maintaining the same cost as HSP scheme. The HPP scheme outperforms HSP scheme in terms of total delay and has a lower total delay than HBP scheme when traffic load is high.