The camp is located at land near to Adwick Park, off Windmill Balk Lane.
Ruth Moore, of Manor Farm Close, said she reported the arrival of the group to Doncaster Council this morning, due to rubbish left 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.
"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 this morning.
"I just don't want the park to get ruined."
Doncaster Council has been contacted for comment.