SAN DIEGO—The San Diego Fire-Rescue Department said it would no longer require on-duty crews to drive parade routes, a move that follows complaints by four firefighters who say they were harassed during a gay pride event.

The department said Aug. 9 it would rely solely on firefighters who volunteer to ride engines used in parades, effective immediately, said spokesman Maurice Luque.

Four firefighters filed complaints with state authorities Aug. 1 seeking the right to press sexual harassment claims against the city’s fire department. The men said they were taunted with sexually explicit comments while driving a fire engine in a gay pride parade in San Diego’s Hillcrest neighborhood July 21.

The men claim their battalion chief ordered them to ride in the parade.

Under the new policy agreed between Fire Chief Tracy Jarman and the local firefighters’ union, volunteers would be paid four hours’ overtime for participating in parades.