Emperor Scaffolding Limited, of Fairefield Crescent, Glenfield, pleaded guilty to offences under Regulation 28(1) of the Construction (Design and Management) Regulations.
It was fined £8,000 and £2,000 in court costs.
Leicester Magistrates' Court heard how the company was dismantling scaffolding at Charles Street on 28 January 2015.
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However, the structure fell while being taken apart, hitting a bus, landing on a parked van and hitting two pedestrians.
An investigation by the Health and Safety Executive (HSE) found Emperor Scaffolding had not followed a safe system of work.
The structure had not been tied to the building, while the sheeting had been left in place.
In addition, the dismantling took place over four days and workers failed to check the scaffolding's condition before they started.
They also failed to take adequate measures to correct defects and make sure it would not collapse during dismantling.
HSE inspector Martin Giles said: "Scaffolding needs to be tied to a building and dismantling needs to be properly planned and carried out in a safe manner."
(LM/CD)
