Few of the recommendations from the Royal Commission into Aboriginal Deaths in Custody have been implemented.
The action also called for the support of women and survivors at work, and their independence at home.
There were contingents from both USyd and UTS.
For many years, it has been tradition for feminist activists to counter-protest the event in defiance of pro-life rhetoric.
Though 10,000 people showed up, the protest was criticised for its lack of First Nations engagement.
On Friday afternoon, around 250 students attended a snap rally at Town Hall called by School Strike 4 Climate activist Danielle Villafaña.
Students spoke out about issues such as public housing and financial difficulties faced by University students.
The order comes after a protest in front of NSW Parliament yesterday evening.
This is the first protest to be granted an exemption by NSW Health.
Police will oppose the Mardi Gras protest in line with current NSW public health orders