Scuffles broke out between pro- and anti-Trump protesters on Tuesday as thousands marched through London to voice their opposition to the US president’s state visit.

Demonstrators marched from Trafalgar Square to Parliament Square chanting “Donald Trump, Theresa May, immigrants are here to stay” and holding placards warning about the threat to the NHS from a post-Brexit US trade deal.

One protestor was selling toilet paper with Mr Trump’s face printed on it, while another brought a 16ft talking robot of the president sitting on a gold toilet.

Jeremy Corbyn spoke to crowds from a stage in Whitehall before the procession moved on to Parliament Square, where a giant Trump baby blimp was hoisted into the air.

The demonstration was largely peaceful although small groups of Trump supporters, many wearing the signature “Make America Great Again” caps, remonstrated with anti-fascist groups who were also on the march.

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Police carried out three arrests and at one point were forced to lock Trump supporters inside a pub on Whitehall for their own safety.

Right-wing activists were held behind a line of police at the entrance to the Wetherspoon bar as a much larger crowd chanted: “Nazi scum off our streets.”

Later a milkshake was thrown at a Trump supporter before a scuffle broke out.

Trump supporter is milkshaked by aggressive crowd during Parliament Square protest

The man, who said he was from London but did not want to be named, said he was “angry” to have been targeted.

Mr Trump claimed reports of protests in London were “fake news”.

He said: “There were thousands of people cheering. I don’t see any protests. I did see a small protest today, very small. So, a lot of it is fake news, I hate to say.”

Police and organisers put the number on the streets in the tens of thousands – lower than the 250,000 which had been predicted but large enough to bring parts of central London to a standstill.

Mary McMillan, 85, and from London, said inviting Mr Trump to the UK was the “height of hypocrisy”.

She told The Independent: “We shouldn’t be saying he’s a wonderful man when he is scum.”

Mary McMillan, who took to the streets with a home made Trump doll (The Independent)

Don Lessem, who spent a month building the Trump toilet robot, described his creation as “stable, like a genius”, in reference to past comments made by the president.

“I came to the UK because you guys protest – I want Americans to do that,” he said. “Trump isn’t welcome anywhere. He doesn’t respect democracy, he’s a would-be dictator.”

And Beverley Schamm, 62, a retired teacher from Hemel Hempstead, agreed.

“I felt I had to be here to show solidarity and protest against Trump’s politics. It sends all the wrong messages to the people who have been forgotten about. He is a sinister man.”

'Off our streets nazi scum' shout protesters at anti-Trump demonstrations

Gary Jagniaszek, 41, a builder from Essex and his 65-year-old father, Bronsilaw, said they had taken the day off from their kitchen fitting business to attend the march.

“I’m here to tell him to go home. We don’t want him here. He is a racist b******,” the younger Mr Jagniasek said.

“He has interfered in our politics and it has nothing to do with him,” said his father. “He wants us out of the EU and then he will savage us.”

James O’Brien from Ireland, who was selling toilet paper with Mr Trump’s face on it, said he had ordered around 10,000 rolls. “There are a lot of people who want to wipe poo on Donald Trump.”

But 22-year-old John, an ex-soldier who didn’t want to give his surname, said he was at the rally in support of Mr Trump to defend free speech. “As a president he has a right to be here,” he said. “It is a matter of free speech. These protesters are undemocratic.”

Karen Byrd, a tourist from North Carolina who was passing through Trafalgar Square, said the protest was “upsetting”.

“We are proud of him. He has made mistakes and he needs to keep quiet on Twitter, but he has boosted our economy, he is against abortion.”

Trump toilet paper, baby blimb and Corbyn - UK protests Trump Show all 23 1 /23 Trump toilet paper, baby blimb and Corbyn - UK protests Trump Trump toilet paper, baby blimb and Corbyn - UK protests Trump A Trump supporter argues with opposing demonstrators after being hit by a milkshake during a rally against the president's UK visit in London Reuters Trump toilet paper, baby blimb and Corbyn - UK protests Trump A protester wears a costume depicting President Trump as Putin's puppet Tom Batchelor / The Independent Trump toilet paper, baby blimb and Corbyn - UK protests Trump The famous Trump balloon rises above Parliament Square in London while the president meets with the prime minister EPA Trump toilet paper, baby blimb and Corbyn - UK protests Trump A 20ft statue of Trump tweeting while sitting on a golden toilet stands in Trafalgar Square Tom Batchelor / The Independent Trump toilet paper, baby blimb and Corbyn - UK protests Trump Labour leader Jeremy Corbyn adresses protesters at an anti-Trump demonstration near Downing Street in London PA Trump toilet paper, baby blimb and Corbyn - UK protests Trump A protester holds a sign referring to President Trump's insult towards London mayor Sadiq Khan, which he tweeted as he landed in Britain yesterday Tom Batchelor / The Independent Trump toilet paper, baby blimb and Corbyn - UK protests Trump Protesters carry a baby Trump effigy locked inside a cage Tom Batchelor / The Independent Trump toilet paper, baby blimb and Corbyn - UK protests Trump A video of Boris Johnson deriding President Trump's ban on travel from a number of predominantly Muslim countries is projected on to the side of the Houses of Parliament on the fist night of the president's visit @LedByDonkeys Trump toilet paper, baby blimb and Corbyn - UK protests Trump A Trump supporter is escorted by police after being covered in milkshake at the protest in Parliament Square in London PA Trump toilet paper, baby blimb and Corbyn - UK protests Trump A face mask is placed on a pile of horse manure in the anti-Trump protests in London Tom Batchelor / The Independent Trump toilet paper, baby blimb and Corbyn - UK protests Trump Labour leader Jeremy Corbyn speaks during an anti-Trump protest near Downing Street in London EPA Trump toilet paper, baby blimb and Corbyn - UK protests Trump Protesters fly the baby blimp down Victoria Street near the House of Commons in London Tom Batchelor / The Independent Trump toilet paper, baby blimb and Corbyn - UK protests Trump A man sells Donald Trump toilet paper during protests at Parliament Square in London PA Trump toilet paper, baby blimb and Corbyn - UK protests Trump A sculpture in Trafalgar Square teases a milkshakeing of the president in keeping with the recent trend Tom Batchelor / The Independent Trump toilet paper, baby blimb and Corbyn - UK protests Trump A comparison of approval ratings between Trump and Obama is projected on to the Tower of London @LedByDonkeys Trump toilet paper, baby blimb and Corbyn - UK protests Trump A man dressed as President Trump takes part in a protest in London Reuters Trump toilet paper, baby blimb and Corbyn - UK protests Trump Environment activists take part in the protest in London Reuters Trump toilet paper, baby blimb and Corbyn - UK protests Trump Protesters gesture at the Marine One helicopter which is carrying President Trump around London during his visit Getty Trump toilet paper, baby blimb and Corbyn - UK protests Trump A woman protests holding a Trump doll and a badge for "Soho Mafia" near Downing Street during Trump's visit Tom Batchelor / The Independent Trump toilet paper, baby blimb and Corbyn - UK protests Trump A hat bearing the title and likeness of the USS John S McCain, the ship that was recently hidden from Trump due to his dislike of the deceased US senator, is projected on to Madame Tussauds in London @LedByDonkeys Trump toilet paper, baby blimb and Corbyn - UK protests Trump A protester holds a placard depicting Trump the snake constricting press freedom Reuters Trump toilet paper, baby blimb and Corbyn - UK protests Trump An anti-Trump and anti-Brexit banner is raised in Trafalgar Square Reuters Trump toilet paper, baby blimb and Corbyn - UK protests Trump A man dressed up as a Trump gorilla stands in a cage in Parliament Square in London AP

Asked about his description of Meghan Markle as “nasty” and Sadiq Khan as a “stone cold loser”, she replied: “He needs to keep his mouth shut. But it is what he does for our country that matters.”

Crowds began to disperse from Parliament Square as the rain fell, with pockets of protesters remaining on the green, but by late afternoon the topic of discussion had largely turned to Brexit instead of the US president.

More than 3,000 officers were deployed and Scotland Yard’s deputy commissioner, Sir Steve House, said the policing plan has so far worked “effectively”.