Palm Beach Police were sent to the former president’s club and residence shortly after 8am on Thursday.
Officers said they were called to a complaint of a trespasser after a man refused to leave the property.
The Secret Service is later said to have conducted an urgent sweep of the area, WPBF 25News reports.
Palm Beach Police Department said in a statement: At 0808 hours, local time, we received a complaint of a male refusing to leave the property.
“We responded, issued a written warning for trespass, and the subject left the area.
“This was a routine trespass complaint from our Department.”
Trump bought Mar-a-Lago for around $5-$10million in 1985.
The property, which he has used as his primary residence since 2019, is now estimated to be worth around $100million.
When Trump was not at the White House, he was often seen at the lavish home during his presidency.
The estate also operates as a resort and hotel for members only – and rents out venues for private events.
Membership at the Mar-a-Lago Club required a $200,000 initiation fee up until 2012 when it was lowered to $100,000.
Annual sales due are $14,000 and there’s an annual food minimum of $2,000.
According to the Mar-a-Lago website, the exclusive membership grants paying owners access to the “Trump Spa and Salon, the pool, the Beach Club, as well as breathtaking guest rooms and exclusive suites”.
There is also a “state-of the-art-fitness center, award-winning tennis courts, beautiful croquet lawns, and an entertainment series which hosts internationally world-renowned talent.”