The Jackass star, whose real name is Stephen Glover, live-streamed video of the entire stunt on Facebook, later posting: "Anyone wanna bail me out of jail?"
While at the top of the crane, he inflated a giant killer whale balloon that read, "SeaWorld Sucks." He also set off fireworks, NBC News reports.
Firefighters, unsure of whether Steve-O would need rescuing, positioned a large cushion beneath the stunt performer in case he fell, the Los Angeles Police Department said. Fortunately, it wasn't needed as he later climbed down himself.
Fire Department spokeswoman Margaret Stewart criticized Steve-O for his actions, saying that he wasted resources that could have been devoted to a true emergency.
On Saturday, Steve-O teased a "big dangerous stunt," sharing a photo of himself with an inflatable whale and telling fans to tune in for a live stream on his Facebook page the next day.
Warning: Contains foul language
He faces several possible charges for the incident, including conspiracy to commit a crime, trespassing, setting off explosives (the fireworks) within city limits without a permit and filming for personal gain without a permit.
This wasn't Steve-O's first protest against SeaWorld – last year he was fined $239 after changing a highway sign in San Diego to read "SeaWorld Sucks."