Police confirmed the four protestors - Johno Smith, Jess Harrison, Abi Smith, and Verena Maeder - had been charged with trespass at Wellington central police station this evening.
If convicted, they faced maximum sentences of three months in jail.
Police said the four had been released from custody and would appear in court at a later date.
Inspector Tony Bernards defended the decision not to remove the protestors, saying it was the safest option.
He said the stunt did not necessarily mean it was easy to get access to Parliamentary buildings.
"I don't know how easy it was. These people are very, very experienced rock-climbers. But it is definitely being reviewed."
In front of a small crowd on Parliament's steps, they removed the large sign they had roped across the front of the building, which featured a picture of Prime Minister John Key and the words "Cut Pollution, Create Jobs? Yeah, Nah".
They also removed solar panels which they had used to power their devices and promote alternative energy sources.
The activists were not handcuffed, but were taken to a paddy wagon for questioning.