Extinction Rebellion says Olympic gold medal-winning canoeist Etienne Stott and fellow British Olympian Laura Baldwin were among the demonstrators.
Six people have been arrested after Extinction Rebellion activists climbed on top of an oil tanker in central London.
The climate group said three people climbed on top of the Shell tanker, holding a banner which said "end fossil filth" in Bayswater Road on Saturday morning.
Extinction Rebellion said Olympic gold medal-winning canoeist Etienne Stott and fellow British Olympian Laura Baldwin were among those demonstrating.
Several police officers were also at the scene and were seen blocking the road while the protest took place.
Mr Stott said: "I am acting to try to disrupt the toxic fossil fuel industry that is destroying everything we hold dear.
"I am hoping we can slow it down long enough to create a moment where everyone can stop and think where we are going and change course."
A spokesperson for Shell said: "We respect the right of everyone to express their point of view - we only ask that they do so with their safety and the safety of others in mind.
"We agree that society needs to take urgent action on climate change. Shell has a clear target to become a net zero emissions business by 2050, in step with society".
It added that it welcomes "constructive engagement on our strategy and the energy transition".
The Metropolitan Police said six people were arrested for vehicle interference and the road had reopened by 12pm.
It comes as Extinction Rebellion said thousands of people are expected to descend on Hyde Park on Saturday and it is planning a "highly disruptive mass action" following several days of protests against new fossil fuel investments.
On Friday, hundreds of activists blocked Waterloo, Blackfriars, Lambeth and Westminster bridges as part of their campaign.
The Met Police said no arrests had been made following the action.
Meanwhile, Warwickshire Police said nine people have been charged after a separate climate activist group held a demonstration at an oil terminal in Kingsbury.
Just Stop Oil activists protested in the early hours of Friday at the Kingsbury terminal near Tamworth, Staffordshire, as part of their campaign to demand the government stops new oil and gas projects.
Nine people were charged with obstructing or disrupting a person engaged in lawful activity, Warwickshire Police said.