The protest was organised by NGO 'Nyay Bhumi'.
The Aam Aadmi Party's National Convenor, who has announced his plan to contest against Chief Minister Sheila Dikshit in the coming Delhi Assembly polls, expressed his solidarity with the protesters.
"If advertisements on autos is illegal, why are the huge hoardings of Sheila Dikshit seen all over Delhi not removed? This is a political move and clearly the autos carrying AAP posters are being targeted," he said.
He alleged that the government order was aimed at targeting the AAP's publicity campaign through three-wheelers.
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"Our volunteers will put the Aam Aadmi posters on around 10,000 autos of the city in the next 10 days. If you are fined for it, you can come to our party office and get the money," he said.
Rakesh Aggarwal of Nyay Bhumi alleged that the ban on advertisements amounted to curbing the Freedom of Speech and Expression.
The auto drivers present at the protest site complained about the "callous attitude" of the Delhi Police towards them.
On an average, around 55,000 to 70,000 auto rickshaws ply on Delhi roads.