The protest was staged outside a meeting for local councillors with Ineos which holds a number of licences in North Yorkshire to explore for gas.
Ian Conlan, an anti-fracking activist and Malton resident, said: “Their plans are a real and present danger to our rural economy, environment, health and way of life.”
Ineos has set out plans to hold a series of meetings to give the public more details of its plans.
Gary Haywood, chief executive of Ineos Shale, said: “Meeting town and parish councils is the beginning of our long term conversation with communities.
“We are committed to meeting with and addressing the concerns of local people and have started with their community representatives.
“We look forward to holding a program of open public exhibition events, where we will listen to the concerns that local people have, and answer their questions.”
Next week, the first application to use the controversial fracking mining method in Yorkshire will be considered by North Yorkshire County Council.
Third Energy wants to frack at Kirby Misperton, between Pickering and Malton, and has already received permission from the Environment Agency and now needs planning permission from the county council.
Energy firms have found it difficult to progress their plans in the face of public opposition and the North Yorkshire decision is expected to receive nationwide attention.