Dozens of protesters interrupted Question Time on Wednesday and called for politicians to close Australia's offshore detention centres on Manus Island and Nauru.
The group staged the protest, which involved members of the group gluing their hands to railings in the House of Representatives, during the second last Question Time of the year.
"We are here today because you have become world leaders in cruelty," yelled one protester.
Speaker Tony Smith was forced to shut down Question Time, and leader of the house Christopher Pyne said it was the most chaotic protest at Parliament House since 1996.
The protesters from the group "Whistleblowers Activists and Citizens Alliance" were then forcibly dragged from the chamber. There were no reports of serious injuries.
Pyne also said there would be an investigation into how people are signed in to view Question Time in the public gallery.
One Nation senator Pauline Hanson had her chief of staff James Ashby film the protesters in the public gallery.
In the the carpark, Greens leader Richard Di Natale embraced the protesters and thanked them, saying, "we are so proud of what you have done".
