The assembly's environment committee heard how the parks were to host 11 events, including beach volleyball and road cycling.
Tory member James Cleverly called for assurances "to make good any damage and take the parks back to their previous standard".
Royal Parks chief executive Mark Camley said: "When we have a sporting or theatre event we work within a licence. We insist they pay for reinstatement and we set a bond to cover that work."
Cleverly also sought assurances that the Army's mounted Household Division would not be disrupted.
Camley said: "There is every intention to ensure that the Changing of the Guard remains part of the fabric of the parks and of London."