Speaking at the end of the inaugural Street Pastors conference on Saturday, Dr John Sentamu said there were many people in the UK's towns and cities in need of a safe place where they could "shelter from life and all it's problems".
He praised Street Pastors, who patrol town and city centres across the UK and Ireland on Friday and Saturday nights, for "touching the lives of many people who are directionless, aimless, sometimes faithless and often hopeless".
"Your love and service are a wonderful example of God at work in the world," he said.
"Your presence on the street is bringing God's refuge into the lives of people who need it."
Street Pastors have seen tremendous growth since their launch in London in 2003, having expanded across London to the rest of England, Wales, Scotland and Ireland.
Internationally, the ministry has spread to Antigua and Barbuda, preparations are being made to launch Street Pastors in Australia in 2010.
"Why should the church be going out and trying to meet the people in need on our streets?" the Archbishop asked. "Because that is what we are called by God to do, we are obeying God."
Referring to Matthew 25, Dr Sentamu reminded Christians that their love for God would be tested on the day of judgement.
"How we have fed the hungry, welcomed the stranger and visited the sick - it's what being a disciple of Jesus is all about. We need to do it, not just think about it."
He encouraged Christians to believe they could make a difference even if it was just one person at a time.
"There are many problems on our streets and many people needing our help. Street Pastors say it makes a difference for this one and that is why they are doing it," he said. "It isn't about volume but if you can make a difference for just one person then it has meaning."
The conference brought together hundreds of Street Pastors from all over the UK and Ireland, and more than 20 from Antigua.
They heard earlier in the conference from London Mayor Boris Johnson, who praised their work for transforming the capital.
He said: “We can’t just transform the physical infrastructure because that’s not what really counts. What counts is the human capital of London.
“It’s the young people of London that we need to invest in if this city is to lengthen its lead as the greatest city on Earth.
“Street Pastors are already doing what you can and I think it is high time London knew more about what you did and the whole of London followed your example.”
Next year's Street Pastors conference will be held in Barbuda.
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