London
26 November 2014
Last updated at 21:24 ET
The protesters marched down Oxford Street at around 21:00 GMT on Wednesday
They were joined by Carole Duggan, whose nephew Mark was shot dead by a Met police officer in 2011.
Police said the "impromptu march" ended peacefully at about 23:30 GMT.
Ms Duggan told the crowd on Wednesday evening "we know the pain of losing somebody at the hands of the police".
She told them they were sending a message to the family of Michael Brown.
"That is why we stand in solidarity with the community of Ferguson. I feel they are very strong and brave people."
She went on: "They've come to a point in Ferguson where there is no turning back.
"They have to carry on fighting. They have to see this through. We have to stand behind them because you know what happens there will eventually happen here."
Carole Duggan, whose nephew Mark was shot dead in 2011, said she stood behind the family of Michael Brown
The protest was described as noisy but non-violent
Demonstrators gathered in Parliament Square after walking down Oxford Street
The US Embassy protest was organised by campaign groups Stand
Up To Racism and London Black Revolutionaries, according to the Press
Association.
It follows the decision not to charge white police officer Darren Wilson with the death of Michael Brown who was shot dead on 9 August in Ferguson.
In London, protesters held placards which read "Jail racist cops" and chanted "Killer police off our streets".
After marching down Europe's busiest shopping street, they gathered again in Parliament Square. No arrests were made.
The sister of Sean Rigg, who died at Brixton police station in 2008, was also at the rally.
Marcia Rigg said: "Burning and looting - we don't condone these acts - but I for one, and I'm sure people around the world, understand the frustration and anger that the people are feeling when our loved ones are murdered on the streets."
Michael Brown's death has caused civil unrest in a number of US cities
by Emily Straton and Biodun Iginla, BBC News Website
The protesters marched down Oxford Street at around 21:00 GMT on Wednesday
Hundreds
of people have taken part in a demonstration outside the US embassy in
London condemning the decision not to charge a police officer with
shooting Missouri teenager Michael Brown.
Protesters observed a minute's silence before marching down Oxford Street and making their way to Parliament Square.They were joined by Carole Duggan, whose nephew Mark was shot dead by a Met police officer in 2011.
Police said the "impromptu march" ended peacefully at about 23:30 GMT.
Ms Duggan told the crowd on Wednesday evening "we know the pain of losing somebody at the hands of the police".
She told them they were sending a message to the family of Michael Brown.
"That is why we stand in solidarity with the community of Ferguson. I feel they are very strong and brave people."
She went on: "They've come to a point in Ferguson where there is no turning back.
"They have to carry on fighting. They have to see this through. We have to stand behind them because you know what happens there will eventually happen here."
Carole Duggan, whose nephew Mark was shot dead in 2011, said she stood behind the family of Michael Brown
The protest was described as noisy but non-violent
Demonstrators gathered in Parliament Square after walking down Oxford Street
It follows the decision not to charge white police officer Darren Wilson with the death of Michael Brown who was shot dead on 9 August in Ferguson.
In London, protesters held placards which read "Jail racist cops" and chanted "Killer police off our streets".
After marching down Europe's busiest shopping street, they gathered again in Parliament Square. No arrests were made.
The sister of Sean Rigg, who died at Brixton police station in 2008, was also at the rally.
Marcia Rigg said: "Burning and looting - we don't condone these acts - but I for one, and I'm sure people around the world, understand the frustration and anger that the people are feeling when our loved ones are murdered on the streets."
Michael Brown's death has caused civil unrest in a number of US cities
Ferguson shooting
Features and analysis
-
How many other cities have same cocktail of problems?Sopel: Obama's problem
-
Why the policeman pulled the trigger
-
What happened, and what now?
-
Raw fury follows ruling
-
As it happened: Protests spread
-
How night of violence unfolded
-
Grand jury explained
-
Violence after grand jury ruling
-
Prosecutor's evidence
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