More than 500 people were taken into custody, while 341 were processed and released on bail.
Thirty-three were arrested for non-Terrorism Act offences, including 17 for alleged assaults on police officers, although organisers maintained that the rally was peaceful.
The Metropolitan Police condemned the alleged violence, while human rights groups have criticised the arrests.
The government ban on Palestine Action makes showing support for the group a criminal offence punishable by up to 14 years in prison.