The police said the Tour of the North parade in north Belfast passed off without major incident.
Around 1200 people, including 19 bands, took part in the parade.
There had been concerns about possible clashes in a number of areas, but it passed off without trouble.
PSNI District Commander Chief Superintendent Mark Hamilton congratulated both marchers and protesters on their "responsible approach" to the event.
"I was pleased and encouraged by the dignified and respectful way in which the event was conducted and marshalled.
"The organisers of the parade clearly went to great lengths to ensure the event passed off without incident.
"Equally I am grateful for the efforts of all community leaders in reducing tension and conducting a dignified protest.
"It is testimony to the commitment and leadership of all involved that an event such as this, and any associated protest, can take place peacefully.
"My officers and I would look forward to everyone continuing to work together to build on the successes of this evening."