The 1,200 protesters affiliated with Jordan's Muslim Brotherhood have also burned the Israeli flag.
Although Jordan maintains cordial ties with Israel under a 1994 peace treaty, many Jordanians are skeptical of their neighbor's intentions. Roughly half of Jordan's population traces its roots to Palestinians displaced in Arab-Israeli wars.
Jordan's Brotherhood calls for Israel's annihilation through armed struggle.
The protesters also demanded Jordan's King Abdullah II to "revoke the peace treaty with the Zionists."