In scenes of public euphoria not seen since independence in 1980, huge crowds marched, danced and sang their way through the capital Harare and other cities, demanding that Mugabe, 93, finally step down.
The mass turnout came after an unprecedented week in which the military seized power and put Mugabe under house arrest in response to his sacking of vice president Emmerson Mnangagwa.
The marches were peaceful, despite a tense stand-off as heavily armed soldiers barred thousands of protesters from reaching Mugabe's official residence, the State House, in central Harare.
Today's demonstrations, which began to draw down after 1530 GMTs, were called by independence war veterans to thank the military, but soon spread to include citizens of all ages, jubilant that Mugabe appeared to be on his way out.
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A symbolic location, Highfield was where Mugabe gave his first speech after returning from exile in Mozambique ahead of independence in 1980.
In central Harare, a group of young men tore down a green metal street sign bearing Robert Mugabe's name and smashed it repeatedly on the road before trampling it underfoot.
Other groups of protesters headed towards Mugabe's private Blue Roof residence in the suburb of Borrowdale, where he was initially held under house arrest following the army's seizure of power.
Major General Sibusiso Moyo, whose faltering delivery of an army statement on state TV marked the completion of the take-over on Wednesday, told journalists at the protests "the people of Zimbabwe are disciplined, orderly and they are unified".
Such an open display of defiance would have been unthinkable just a week ago as dissent was routinely crushed by security forces.
But in a statement released on yesterday, the army said it fully supported the protests.
The majority of Zimbabweans have only known life under Mugabe's rule, which has been defined by violent suppression, economic collapse and international isolation.
"I went to university but here I am selling bananas to earn a living. If it wasn't for Mugabe, I would be doing something else," said one protester, street vendor Abel Kapodogo, 34.
Mugabe enraged many Zimbabweans when he did not resign following talks with the army's leaders on Thursday, with sources suggesting he was "buying time" to negotiate a favourable end to his 37-year reign.
He appeared publicly for the first time yesterday for a slated appearance at a graduation ceremony in Harare, further stoking speculation about his talks with General Constantino Chiwenga, who led the military power grab.
Later yesterday, eight of the 10 regional branches of Mugabe's ruling ZANU-PF took to state television to call for him to go -- yet another serious blow to his authority.
Zimbabwe's military chiefs, meanwhile, have said their operation to round up "criminals" in Mugabe's government was continuing.
The army seizure of power appeared to be the climax of a dispute over who would succeed the veteran leader.
Before being pushed out as vice president, Mnangagwa had clashed repeatedly with Mugabe's wife Grace, 52.
Both had been seen as leading contenders to replace Mugabe, but Mnangagwa had the tacit support of the armed forces, which viewed Grace -- a political novice -- with derision.
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