Former Northern Territory youth detainee Dylan Voller and two other protesters have been charged after trying to enter Carrara Stadium during the Commonwealth Games opening ceremony.

Mr Voller, 20, and two Queensland women, aged 21 and 30, were part of a larger group protesting last night in the car park outside the Carrara Stadium for Indigenous rights.

Mr Voller came to national attention in 2016 when he was shown tied to a restraint chair in a Four Corners episode on youth detention in the Northern Territory.

The episode resulted in Prime Minister Malcolm Turnbull announcing a royal commission into the detention of children in the NT.

Police said during the protests the three had attempted to "gain unauthorised entry into the venue".

Video footage shot of the incident showed a group, some draped in Indigenous flags, which could be heard chanting "no justice, no games".

Police blocked the group from entering the venue, and are seen pushing some protesters.

In a statement, Queensland police said it "respects the right of people to protest lawfully and peacefully in Queensland but will not tolerate disruptive behaviour during the Commonwealth Games and associated events".

Sorry, this video has expired Three protesters charged after scuffle with police outside opening ceremony (Facebook: Warriors of Aboriginal Resistance)

The trio have each been charged with one count of public nuisance and are expected to front South Port Magistrates Court at a later date.

Gold Coast Commonwealth Games chair Peter Beattie said he was committed to their right to protest, but the organising committee had set a benchmark for dealing with the Indigenous people.

"I think as an organisation we've demonstrated our seriousness and genuineness about engaging with Indigenous people," Mr Beattie said.

"If people have got genuine grievances they have a right to go out and demonstrate them.

"I didn't feel like it was a slap in the face. I just want to make certain at the end of the day that they were treated with respect, but they also saw what we were trying to do about reconciliation."

Gold Coast Mayor Tom Tate said the protests would not tarnish the opening ceremony.

"You know one thing about in this Indigenous culture I always pay respect and acknowledge elders past and present, specifically the Yagambeh people," he said.

"And when there's other Indigenous people that comes out from other parts of Australia I respect that too, but at the same time they must ask permission of our elders here in our city.

"Guess who I listen to, I listen to the people who've been here for 20,000 plus years, they have voiced their opinion, put it there and now enjoy the games as everyone else."

"If anything, Australia is a democracy, you have a right to protest and so as I say, message received, now if anyone else belly-aching about something else, let me know."

Yesterday a group of Indigenous rights activists blocked the path of the Commonwealth Games baton, forcing organisers to change the relay's route.