We performed experiments using a triplet of quadrupole permanent magnets to focus protons and compared their dose distributions with unfocused collimated beams using energies and field sizes typically employed in proton radiosurgery. Experiments were performed in a clinical treatment room wherein small-diameter proton beams were focused by a magnet triplet placed immediately upstream of a water tank. The magnets consisted of segments of Sm2Co17 rare-earth permanent magnetic material adhered into Halbach cylinders with nominal field gradients of 100, 150, 200, and 250 T m-1. Unmodulated beams with initial diameters of 3 mm-20 mm were delivered using a single scattering system with nominal energies of 127 and 157 MeV (respective ranges of ~10 cm and 15 cm in water), commonly used for proton radiosurgery at our institution. For comparison, small-diameter unfocused collimated beams were similarly delivered. Transverse and depth dose distributions were measured using radiochromic film and a diode detector, respectively, and compared between the focused and unfocused beams (UNF). The focused beams produced low-eccentricity beam spots (defined by the 80% dose contour) at Bragg depth, with full width at 80% maximum dose values ranging from 3.8 to 7.6 mm. When initial focused beam diameters were larger than matching unfocused diameters (19 of 29 cases), the focused beams peak-to-entrance dose ratios were 13% to 73% larger than UNF. In addition, in 17 of these cases the efficiency of dose delivery to the target was 1.3× to 3.3× larger. Both peak-to-entrance dose ratios and efficiency tended to increase with initial beam diameter, while efficiency also tended to increase with magnet gradient. These experimental results are consistent with our previous Monte Carlo (MC) studies and suggest that a triplet of quadrupole Halbach cylinders could be clinically useful for irradiating small-field radiosurgical targets with fewer beams, lower entrance dose, and shorter treatment times.