The accused was arrested near the showground shortly after the incident and was charged with dangerous operation of a vehicle (horse) causing grievous bodily harm,common assault,trespass and obstructing police.
He was set to appear in Mackay Magistrates Court on Monday.
The Wangan and Jagalingou Family Council,who gave the convoy a welcome to country at the showground,said the event was not a protest,but a peaceful gathering.
"We organised the Karmoo Dreaming event as a celebration of our people as'water protectors',"WJFC spokesman Adrian Burragubba said.
"We welcomed the Bob Brown Foundation. We take our obligation to fulfil our laws and customs very seriously.
"This attack took place on our country at our event. This is an attack on us. We were practising our culture under our flag,which represents our primary connection as traditional custodians of this place.
"This event was not a protest. We were having a peaceful gathering and we were sharing our culture and law with these visitors."
Footage of the incident showed the man riding a brown horse with a white stripe,galloping up to the showground shouting and whooping.
Witness Liz Cameron said it was lucky more people had not been injured,particularly with the number of children in the crowd.
Former Greens leader Bob Brown,who was leading the convoy,said he spoke to the woman immediately after the incident,and she was conscious.
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Isaac Region Mayor Anne Baker condemned the incident.
Cr Baker said the man’s actions did not reflect the community and the council remained in contact with the Bob Brown Foundation.
Sunday's separate rallies for mine supporters and anti-Adani protesters had been peaceful until the incident,following the convoy's tension-filled arrival on Saturday afternoon.
On Saturday,pro-Adani residents,unions and organisations met the convoy at the gates of the showground,jeering,shouting,and waving signs.
One protester said a man holding a long metal bar swung it repeatedly at her windscreen and police received one call regarding possible shots fired at the showgrounds about 10pm but the caller said it was likely just a firecracker.
Residents had earlier gathered at a local pub in the town about three hours west of Mackay and 160 kilometres away from Adani's planned Carmichael mine tosend Mr Brown and his convoy a message:don’t tell us what to do.
Pro-Adani politicians including Clive Palmer and Pauline Hanson spoke at a rally before the hundreds-strong protest convoy arrived,confirming their support for the controversial mine to the joy of locals and unions alike.