Mr Haynes had intended to stay put for three days

Alan Haynes, 30, from Worksop, climbed onto the balcony shortly before 6.30am on Thursday using a pair of ladders.

He claimed he would stay on the balcony for three days but was brought down by the fire service on an elevated platform in the afternoon.

Mr Haynes was then ushered away by police for a "few stern words".

It is a peaceful protest and what better place to protest than in front of the seat of democracy in the city? Councillor Tim Rippon

Friends in front of the town hall with flags and banners had supported Mr Haynes throughout his protest.

Chief Inspector Andy Eddison, of South Yorkshire Police, said Mr Haynes would not be charged because he was not causing a nuisance.

The decision not to take any action came after discussions with council members, he added.

Councillor Tim Rippon said: "He is not causing any harm, he is not hurting anyone.

"It is a peaceful protest and what better place to protest than in front of the seat of democracy in the city?"

Earlier, Mr Haynes told BBC News: "At 30, I did not expect to find myself stood on Sheffield Town Hall dressed as Father Christmas.

"I'm not just fighting for fathers who want to see their children. It is for mothers and for grandparents too."

Fathers 4 Justice aims to highlight what it says are problems over access to members' children.

Mr Haynes said the public had been nice to him throughout the day, waving and beeping their horns.

A spokeswoman for South Yorkshire Police said they had been concerned with seeing public order maintained.