The camp, consisting of around 20 caravans, appeared on grassland near to Adwick Park, just off Windmill Balk Lane in Adwick on Tuesday.
A number of residents complained to Doncaster Council over concerns about waste and rubbish that could be left on the land as a result of the site being used as a temporary residence.
Ruth Moore, of Manor Farm Close, said she reported the arrival of the group to Doncaster Council on Wednesday morning after discovering rubbish and waste from food and drink on the land nearby.
The 50-year-old said: “I’ve got nothing against travellers, or them being there, but once they’ve packed up and moved on I’m worried that all the rubbish will be left behind and we’ll have to clean it up.
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“I told the council and they said I was the second person to call them about it. I walk my dog there every day and noticed it yesterday morning. I just don’t want the park to get ruined.”
Several other residents also reported seeing rubbish left on the land.
A Doncaster Council spokesman said: “We can confirm that there were a number of traveller caravans illegally encamped at Adwick Park from Tuesday night until Thursday morning. The group was evicted from the site following a notice served by the police and supported by the council, and the caravans have now been removed from the area.”
Powers available to local authorities such as Doncaster Council to disband illegal traveller camps include temporary notices to remove unauthorised caravans, pre-emptive injunctions that protect vulnerable land in advance and possession orders to remove trespassers from land.
The government brought in new legal powers to help councils deal promptly with illegal traveller sites in 2013.