The council rescinded the discretionary no-camping zones in a 10-3 vote, with city council members Imelda Padilla, Traci Park and Monica Rodriguez dissenting.
When Joseph Lamont Williams refused to leave the public park where he has lived for years, he was charged with a felony. Camping bans are on the rise as states seek to crack down on homelessness.
Mayor Daniel Lurie and city leaders have enforced bans on camping and moved people off sidewalks to reduce visible homelessness. Critics say too many homeless people are housed in jail.