Hundreds of angry demonstrators marched through from the Barclays Center in Brooklyn to the Brooklyn Bridge where they sat and refused to move for more than hour.
Friday's rally was held in solidarity with protests taking place in Louisville, where large demonstrations are planned for the weekend.
Several other demonstrations took place around the rest of the country including Boston and San Diego to protest a grand jury's decision not to charge the Louisville, Kentucky, police officers in the death of Breonna Taylor.
Breonna Taylor, a 26-year-old emergency medical technician, was shot and killed by police in her home on March 13, leading to widespread protests across the country demanding that the officers involved be charged. Brett Hankison, one of the officers whose shots did not injure or kill Taylor, was charged with wanton endangerment for allegedly blindly shooting through her apartment window, endangering a neighbouring family.