The force had previously said the protest was "spontaneous", and they did not have any intelligence to suggest a demonstration was going to happen.
The demonstrators told the BBC on Saturday they did not want to talk to the media, although one said "send them back" and another said "stop the boats" when approached.
No arrests were made on the day of the Dover protest, Kent Police previously said.
Although no boats arrived on the day of the Dover protest, eight did on Sunday, carrying 625 people, Home Office figures show.
The day after the Dover protest, several officers were injured and vehicles damaged in Portsmouth at a demonstration sparked by the arrival of 120 migrants.
Both protests have been linked to Danny Thomas, a long-term campaigner against migrants more commonly known as Danny Tommo.
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