It came as similar demonstrations sparked violence in the US.
Organisers said more than 1,000 workers and trade unionists were demonstrating outside BAE Systems sites, as well as at the London offices of the Business and Trade Department.
They explained that the aim of the action was to show solidarity with Palestinian workers.
Members of the Workers for a Free Palestine organisation warned that they were now escalating the group's tactics by targeting BAE Systems and the government department on the same day.
Activists from the group protested outside factories in Glasgow, South Wales and Lancashire.
Tania, a trade unionist and Workers for a Free Palestine organiser, who did not give her surname, took part in the London protest.
She said: "Our movement forced the issue of an arms embargo on to the table and polling shows the majority of the British public want to see arms sales to Israel banned, yet the Government and also the Labour Party continue to ignore the will of the people.
Complicity
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