Town and parish councils are fuming at the controversial plans.
They say the move will put lives and property at risk by relying on an engine travelling from Barnsley or Tankersley to replace the axed pump.
Barnsley and Penistone councillor George Punt is urging residents to register their protests over the coming weeks so they can be considered at a meeting later this month.
Dunford Parish Council is the latest to join the campaign. Parish council clerk Joan Cook said: "Our parish is the most remote area in Barnsley and we feel it is essential that both fire engines are retained.
"If one is removed there could be delays in fire engines from other areas reaching our parish because it is so far away from other fire stations."
Hunshelf parish councillors are also angry at the plans. Council clerk David Horsfall said: "We are appalled by what South Yorkshire Fire and Rescue is proposing just to save £70,000. They say they can cover this area from fire stations such as Barnsley and Tankersley.
"We disagree because places like us in the back woods will not have as good fire cover as we now get with two fire engines from Penistone.
"It seems a barmy idea and if Darton railway crossing is closed it will cause further delay to fire engines from Barnsley coming to this area."
The proposal to withdraw one of the two fire service pumps from Penistone fire station is part of modernisation plans for South Yorkshire Fire Service
Coun Punt said: "The area covered by Penistone fire station is vast and once one pump has been dispatched on a call it is a total nonsense to suggest the rest of the area can be safely covered by an engine which would have to then travel from Tankersley or Barnsley.
"So many new homes have been built in Penistone itself and the surrounding villages that to cover them all with one pump, let alone all the outlying farms and other properties and major roads, is clearly nonsensical.
Under the draft Integrated Risk Management Plan, Penistone is classified as a low-risk station because it receives less than one call-out per 800 dwellings.
Coun Punt said: "We have been told that a desirable response time to a fire in our town is 20 minutes. Yet a desirable response time for other parts of the borough is just 10 minutes."