Yadav, who was released along with his supporters including AAP MLA Pankaj Pushkar after spending around 14 hours in police custody, said the police action was reflective of a "rattled establishment" following his protests on farmers issues including the controversial land bill.
"The SHO of Parliament Street Police Station threatened to kill me. He said I will beat you to a pulp. (Maar maar ke bharta bana dunga)," an angry Yadav told reporters.
"We condemn the way police behaved with Yogendra Yadav and the volunteers. This is not right as in this country peaceful demonstration is a fundamental right under Article 19 of the Constitution. We condemn such action against peaceful protesters," he said.
Police justified the crackdown saying the protesters were advancing towards the Delhi Race Club at Race Course road near the prime minister's residence. The protesters have been demanding a farmers' memorial at the club site saying the land was forcibly acquired by the British rulers from the farmers of Malcha village.
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He said Swaraj Abhiyan was mulling filing an FIR against the "ill-treatment" meted out to him and AAP MLA Pankaj Pushkar by the police.
Police said they made the "preventive arrests" under sections 107 (action where breach of the peace or disturbance is apprehended) and 151 (arrest to prevent the commission of cognisable offences) of the Criminal Procedure Code (CrPC) as they were planning to take out a rally without permission in the high security Delhi Race Course area.