Rahul was leading a candle light march organised by the Delhi Congress unit from Jantar Mantar to India Gate when police personnel restrained him and whisked him away on a van.
He was, according to police, later dropped at a place on Feroze Shah Road, Police said.
The Congress leader, however, claimed in a tweet: "Was detained by Delhi police and taken away from Jantar Mantar."
"I have only one thing to say that the way the family was treated was wrong and it may affect the morale of the army. The police should at least apologise to the family," he told reporters.
A police official said the action was taken keeping Rahul's security in mind as the crowd at Jantar Mantar was swelling by the minute.
Yesterday, Rahul was detained twice when he went to meet the family of Ram Kishan Grewal, who committed suicide over the "non-implementation" of One Rank One Pension (OROP).
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