Police broke up a scuffle between members of the crowd as the Mrs May's vehicle drove off.
The protesters chanted: "We want justice", "bring them out" and "shame on you". A larger crowd of people remained outside.
Demonstrators shout outside Kensington Town Hall, during a protest following the fire that destroyed the Grenfell Tower block in London. People have lost their lives and others have lost everything, all their possessions, their home and everything. Several dozen police, including mounted officers, were in attendance.
Frank adds that anger is rising in London about the deaths - for example, a leading tabloid was emblazoned with the headline "Arrest the Killers" while Labour MP David Lammy has said the incident amounts to "corporate manslaughter".
Very early in the morning on Wednesday, a fire erupted in high rise apartment building Grenfell Tower in West London.
A separate protest occurred near the town hall offices.
There was a large police presence as Mrs May met a group of victims, residents, volunteers and community leaders at St Clement's Church close to the scene of the horrific blaze on Friday afternoon.
There is simmering anger in the multi-ethnic north Kensington area hit by the blaze, and public fury has been directed at senior government figures, including May, who was jeered Friday after she visited.
"She should have been there with the residents".
"She wanted an entirely controlled situation in which she didn't use her humanity", former cabinet minister Michael Portillo told the BBC.
'We are now looking to source interim accommodation for those Grenfell Tower residents and also trying to assist, where possible, elderly and vulnerable residents from surrounding areas who have been unable to return to their homes due to the safety cordon'.
Twenty-four people are still in the hospital, 12 of them in critical condition.
Residents and victims have expressed outrage at Prime Minister Theresa May, who visited the site the day before without meeting with local residents.
Hundreds of protesters took to the streets of London on Friday to demand answers over the catastrophic blaze that tore through the Grenfell Tower housing block in west London.
"It will go to establish the answers of what happened in the fire and how it spread, it will look at the building itself, it will look at the refurbishment as well".
The investigation into the cause of the fire that has now been extinguished will take weeks, he added.
"From a personal perspective, I really hope it isn't", Metropolitan Police commander Stuart Cundy said responding to speculation reported in The Telegraph and other media outlets that the number of dead could exceed 100.
No further survivors are expected to be found and criticism continues to mount for Prime Minister Theresa May's response to the tragedy.