John Radford is in a critical condition after being airlifted to hospital following the incident last week.
The 69-year-old is the chairman of Huddersfield and District Cyclists and was promoting a campaign calling for better investigation of road accidents.
Two men have been arrested and bailed in connection with the collision.
The route passed the scene of Mr Radford's accident on the Huddersfield Road in New Mill.
The ride was organised by Mr Radford's two daughters.
His daughter Helen Gorman said the last week had been "horrendous" and that she hoped the ride would raise awareness of cycle safety.
Ms Gorman said: "If this and the campaigning can stop any other family going through what we've been through this week, and what we are going to have to go through over the next few months if dad pulls through, if it helps anyone else then it will be worth it."
The ride raised money for the Yorkshire Air Ambulance.
West Yorkshire Police said a 21-year-old man and a 43-year-old man had been arrested on suspicion of causing injury by dangerous driving.
The pair have been released on bail.

The club's annual accounts show turnover for last season was up by £337,000 to £13.4m.
An operating profit of £448,000 was slightly down on the previous year.
The Scottish Premiership club's wage bill increased by about £150,000 to £6.8m.
According to chief executive Duncan Fraser, that was "as a direct result of our continuing investment in the overall quality of the playing squad" in a season in which they finished second behind Celtic.
But their wages to turnover ratio of 51% compares favourably to many clubs.
The report confirmed that planning application for a new stadium at Kingsford, seven miles west of the city centre, would be submitted before the end of the year.
Chairman Stewart Milne said: "We have now completed the opening round of public consultations and, whilst there are specific issues to be addressed in relation to traffic management, there is also widespread support across various supporters' groups for the Kingsford site.
"Subject to planning consent being obtained, the proposed site layout will feature much-needed training, community and youth academy facilities.
"The final stadium design will incorporate many of the features being proposed in feedback received from supporters and as part of the detailed consultation process that was undertaken in July."
Milne said that the club and project team were visiting stadia in the United Kingdom and northern Europe to collect ideas for the facilities.
However, he added: "There are significant challenges ahead, not least in the raising of the funds that will be required to deliver the project, which would provide the club, the community trust and our youth academy with appropriate facilities and infrastructure to increase their portfolio of activities in the local area.
"The fact that we have continued to make progress, both on and off the field of play, without a permanent training base and with accommodation that is simply not fit for purpose in the 21st century is quite remarkable and demonstrates what great potential there is for this club if we were operating on a level playing field with the competition.
"If we can maintain the momentum on the playing front and build our average home attendances, that will greatly assist in raising the finances that can deliver the much-needed facilities that can take our club to new levels on so many fronts."

Merseyside Police were called to Crete Towers on Jason Street, Everton, on Tuesday morning after someone noticed a strong smell coming from the building.
It comes two weeks after one of the biggest ever cannabis farms in Liverpool was found on the same street.
Police estimate the total crop had a street value of more than £1.3m and described the farms "a sophisticated and industrial-scale criminal set-up".
Det Insp Lee Wilkinson said: "This was an elaborate series of cannabis farms spread across four separate flats.
"We discovered a total of 339 plants but believe much more could have been grown."
Hundreds of cyclists took part in a charity ride in Huddersfield to support a cyclist who was left in a coma following a collision with a car.
[NEXT_CONCEPT]
Aberdeen have posted a record turnover and another profit but warned of "significant challenges" in raising funds to complete their move from Pittodrie to a new stadium.
[NEXT_CONCEPT]
Four cannabis farms have been found in flats at a tower block in Liverpool.