They congregated at Victoria Embankment on Saturday afternoon before making their way to Hyde Park.
Holding banners, placards and flags, the demonstrators let off green and red-coloured smoke and chanted, blocking traffic as they marched.
Protesters let off coloured smoke (Yui Mok/PA)
The protests came after an 11-day military offensive between Israel and Palestine in the Gaza Strip.
Some demonstrators could be seen wearing costumes, masks and face paint, while others were draped in the Palestinian flag.
Groups of police watched as some protesters climbed bus stops and lampposts and wrote “Free Palestine” on walls.
Chants of “Israel is a terrorist state” and “We are all Palestinians” could be heard during the march.