The group of about 100 people marched to Parliament House on Wednesday to demand justice for those who have died in custody.
They gathered outside the building, chanting and waving placards before a large group of police flanked the crowd.
One male protester was seen in social media footage pushing a police officer as they tried to move the crowd on.
He was wrestled to the ground and handcuffed.
A 21-year-old man was charged with two counts of assault and blocking a road.
A 43-year-old woman was charged with assault and public nuisance, and a 58-year-old man was charged with contravening a direction.
The group also marched to the Roma Street watch house, where they blocked a small street near police headquarters for about an hour chanting “Too many coppers, not enough justice.”
The lead protester was also videoed voluntarily lying on the ground before his arrest.
After demanding a meeting with a representative from the police commissioner’s office the group then agreed to peacefully disperse.