CAIRO — Sudan’s former president, Omar Hassan al-Bashir, has been charged over his role in the killing of protesters during demonstrations that led to his ouster last month, the nation’s public prosecutor said in a statement on Monday.

The prosecutor’s office accused Mr. al-Bashir and others of “inciting and criminal complicity” in the deaths of demonstrators, according to Sudan’s official news agency.

The announcement came on a day of bloody clashes in Khartoum, the capital, between armed groups of unclear affiliation and protesters who are demanding civilian rule. The military denied any role in the violence and blamed saboteurs for the deaths.

On Tuesday, the Sudan Doctors Committee said six people had been killed, including an army officer, during clashes overnight in several parts of the country. Protest organizers urged people to rally again, saying on Twitter that “our moral obligation to protect and complete our revolution is rising.”