Around 150 members of the English Defence League (EDL) took part in the march along Newborough towards the town centre where demonstration speeches were held. There were also around 70 counter-protestors from Unity - a range of groups who opposed the presence of the EDL.
A spokesperson for North Yorkshire Police said three arrests had been made.
Supt Dave Hannan, head of specialist operations at North Yorkshire Police, said detailed planning had ensured the demonstration: “has passed off without significant issue.”
“I sincerely thank the local community for their support, understanding and patience throughout this challenging event,” he added.
Paul Thompson, from Scarborough Council said: “We thank all businesses and members of the public for bearing with us and taking on board our advice before and during the demonstrations; this support has been invaluable in helping us manage the event effectively.”