The Transport Worker's Union organised the rally which follows a similar protest in Melbourne at the end of January.
A union survey found three out of four food delivery riders are paid below the minimum wage
Almost half said they or someone they knew had been injured on the job.
TWU National Secretary Tony Sheldon said better regulation is needed for the food delivery industry.
About 15,000 food delivery riders are regularly on the road. The average age of riders is just under 26 and many are international students.
All three major food delivery services said they are committed to the safety of their delivery partners.
"The nature of the contractor status there are no guarantees in terms of an hourly rate."
"No foodora contractor is or has ever been penalised for taking time off work if their absence is registered or communicated via the appropriate channels."
The company wants the laws changed to better accommodate its flexible work model suggesting "benefits should be accrued on the basis of work performed...rather than the duration of work completed."
