They included the poor, homeless, refugees and prisoners.
The Rony Roller Circus Show made all of its 2000 big top seats available for the group after discussions with the Vatican.
The Vatican's mobile medical unit was also available to offer treatment to anyone who needed it.
A Spanish singer-songwriter, who used to be homeless, opened the show with a song dedicated to the pontiff as a gesture of thanks.
In a statement, the Vatican's Apostolic Almoner's Officer said that circus performers "with perseverance, commitment and many sacrifices are able to create and give beauty to themselves and to others.
"The gift... may encourage our poorest brethren to overcome the hardships of life, which often seem overwhelming and insurmountable."
