Cieslarová, who ran for the club TJ TŽ Třinec in her hometown Třinec in the east of the Czech Republic, started in 1989 in Sweden as the reigning vice European champion in the junior division at her first world championships. In the individual she finished 17th, while she finished second behind the team of Sweden with Petra Wágnerová , Ada Kuchařová and Jana Galíková in the Czechoslovak relay. At the 1991 home world championships in Mariánské Lázně , Cieslarová won the gold medal in the newly introduced short distance competition. On the long distance she just missed a medal, with the Czechoslovak team she won bronze. The 1992 World Cup season she finished in second place. In 1993 and 1995 she was part of the Czech relay, which won bronze at both world championships.
She won over 40 titles at national championships. She also started at the World Ski Orienteering Championships in 1994 and finished twelfth in both individual races and sixth in the relay.
