Travellers caravans took over part of a Wisbech car park for four days.
Between 20 and 30 caravans arrived at the Chapel Road en-route to the Appleby Horse Fair in Cumbria.
They remained until Thursday evening and then moved on to a public car park in Spalding.
Police and Fenland District Council had been holding talks with the travellers during their stay in the town.
A district council spokesman said: “We were alerted to the encampment on Monday evening and had been attempting to persuade the group to move on.
“We were also in regular contact with the police, who monitored the situation closely.”
A police spokesman said: “We are working with Fenland District Council to ensure there is no breach of the peace.”
The car park was reported to be left in a tidy state after the travellers had moved on.
But traders in the town are calling for action to be taken to stop this happening in the future.
Ray Wicks, of Etcetera, said: “The district council has had to deal with this before in the South Road car park.
“They need to put some control in place to stop this happening again as we need those spaces for shoppers.
“It is something that should not happen.”