Muslims were joined by Jews in the rally against Zionism that started near BBC Broadcasting House in Portland Place, central London, at around 3.30pm.
Pro-Palestinian protestors were met by a counter-demonstration in support of Israel outside the US Embassy.
A few hundred pro-Israel demonstrators and the opposing march exchanged a battle of words while lines of police kept them physically separated.
Ahead of the march, protestor Mohammad Saeed, 58, of Kingsbury, north west London, said: “Our demonstration shows we do not agree with what’s going on in Palestine.”
Pesach Shloime Hirsch was one of around a dozen Orthodox Jews who joined in with anti-Zionism protestors.
Mr Hirsch, a 47-year-old nutrition researcher who travelled from Manchester to take part, said: “We are here to show solidarity with the Palestinians who are suffering.”