Unions representing council workers have said there could be more strikes next month if a dispute over wage restructuring is not resolved.
About 3,000 council workers took part in the rally
About 3,000 Birmingham City Council workers held a rally outside the council house on Tuesday as part of the industrial action.
The 24-hour walkout led to the closure of more than 120 schools and dozens of libraries and leisure centres.
Bin collections throughout the city were also affected.
The row developed after the council announced plans for new equal pay contracts for its staff.
However, unions said that under those proposals more than 4,000 staff will face a wage cut, some by up to £18,000 a year.
Union officials said they were determined to continue talks with the local authority in a bid to avert extra strikes in March.
Council leaders have said they were legally obliged to carry out the pay review and "regretted" that any industrial action had to take place.
On Tuesday picket lines were set up outside schools, rubbish depots and council offices.