It comes a day after unpopular chief executive Leung Chun-Ying said he would not run for office again in the March vote.
While jubilant at his announcement, Leung's critics fear another hardline Beijing-backed leader will take his place.
There are increasing fears that China is tightening its grip on the semi-autonomous city, particularly after two pro-independence lawmakers advocating a complete split from Beijing were barred from taking up their seats.
"The direct message we hope to send to Beijing is we will not forgive and we will fight for democracy and freedom," said Joshua Wong, who led mass pro-democracy rallies in 2014.
"We will not allow Beijing to disqualify one more legislator, because they are democratically elected," Wong, 20, told AFP at the rally, which took place in gardens in the Central commercial district.
The city's youngest lawmaker Nathan Law, 23, who is one of the four the government are seeking to unseat, addressed the crowd saying: "We need to use our legs, our bodies, to tell the regime they can't oppress us.
Protest leaders also slammed the electoral system in which the chief executive is chosen by a committee of 1,200 representatives from various special interest groups weighted towards the pro-establishment camp.
In 2014 Beijing said Hong Kong residents could elect their own leader but that candidates would be vetted. That decision sparked the massive 2014 rallies, which failed to win any concessions on reform.
Veteran pro-democracy lawmaker Leung Kwok-hung, also among the four legislators the government are trying to unseat, told reporters the leadership system was a "tragedy".
However, protester Jack Chan, 18, said Leung was not the root of the problem. "It's China interfering with Hong Kong's development," Chan told AFP.
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