The Riverside City Council approved the proposal on Tuesday.
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Some gyms were already providing outdoor classes on their own property.
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Others were providing services in parks, but previous regulations called for them to pay fees.
The council also voted to allow churches to host services in parks.
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The announcement comes as more businesses across California were allowed to reopen Monday, including barbershops and hair salons, as the state takes a slow and more stringent approach to economic recovery.
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Gov. Gavin Newsom on Friday unveiled a four-tier, color-coded system that will use daily coronavirus case numbers and positivity rates to guide counties' ability to reopen businesses.
All of the counties in Southern California have what is considered a substantial or widespread COVID-19 outbreak.
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