Dozens of police officers held back booing crowds and broke up scuffles as her auto drove off from a local church, where she had met survivors, residents and volunteers and promised new funds for those affected.
But the visits, which took place more than 48 hours after the devastating fire broke out, have done little to quell the growing anger over the way Mrs May has dealt with the tragedy.
Although police did not speculate on the eventual number of fatalities, local community sources say at least 70 from Grenfell Tower are still missing, including entire families.
Some Grenfell residents had warned months ago fire safety issues at the tower meant that it was at risk of a "catastrophic" event. On Friday afternoon, May visited the Chelsea and Westminster hospitals, and in the evening she visited a church which is sheltering people affected by the fire.
Hundreds of protesters surrounded Kensington Town Hall demanding answers.
Shouting "Justice for Grenfell!" and "May Out!", the march was orderly despite brief scuffles with police when it arrived outside No.10.
The local authority, which owns the tower block where families rented their homes, says it is doing all it can to support the victims and to help the relief operation.
The list includes immediate rehousing of all the victims of Grenfell Tower fire within the borough, immediate release of funds to cover costs of welfare and all losses suffered by the victims, and launching an investigation into the recent refurbishment project of the tower. Instead they released a statement promising to rehouse as many people locally as they could.
Police have been struggling to come up with an authoritative list of who was in the building when the fire started, making it hard to determine how many had died.
The Queen speaks to firefighters who tackled the deadly blaze.
Britain is now likely to go into arduous talks on Monday about its exit from the European Union with a weakened leader who is dependent on a small Northern Irish party. "The sad reality is that this work will stretch into many weeks", he said.
Matthew Parris, a columnist and former Conservative lawmaker, said May's response to the fire had shown a lack of judgment which made her unsuitable to be prime minister.
"The Prime Minister would have been shouted at by the residents, but she should have been willing to take that".
Areas near the blaze are covered in posters showing missing persons. They had lived on the 22nd floor of the tower.
Lammy, whose has a friend still unaccounted for in the disaster: "Don't let them tell you it's a tragedy".
However, Foreign Secretary Boris Johnson, who was London mayor until past year, took to Facebook to attack opposition Labour politicians for "political game playing".
Queen Elizabeth II and her grandson Prince William visited a community center Friday where some of the survivors are being housed, and where volunteers have been inundated with donations of clothes and food.
Until then, the blackened tower serves as a collective gravestone.
Cundy said police will investigate the tower's refurbishment project, which experts believe may have left the building more vulnerable to a catastrophic blaze.
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