Just over 60 people set off from Montague Place and marched around the town centre via South Street, the pier, Steyne Gardens, Warwick Street and Chapel Road, before rallying outside the police station in Chatsworth Road.
A letter to the police complaining about the threats to arrest people collecting money for the campaign was read out and then handed in at the front office counter.
Some protesters then returned to Montague Place and collected cash from the public for camp funds, in defiance of the police prohibition. A good sum was collected.
Said a spokesman for the campaigners: "The day passed off peacefully and with many expressions of support from the Worthing public. We are making a point that we have a democratic right to hold activities supporting Camp Titnore and we will not bow down to
these scare tactics, which seem to be political in origin.
"Whether the authorities like it or not, we are not going away and, both at the camp and in the town, we will continue to battle to save Titnore Woods."
The treetop camp was set up in May last year as a protest against the planned destruction of ancient woodland and green fields at Durrington, near Worthing, for the building of an 875-home housing estate, Tesco megastore and access roads.