Three people were arrested in Sydney on Sunday evening during a protest against the US military intervention in Venezuela.

About 300 people turned out on Sydney’s streets in spite of a New South Wales police prohibition on public demonstrations, made in late December using laws passed after 15 people were killed and scores injured in the Bondi beach alleged terror attack targeting a Hanukah event.

The anti-protest laws give the state police commissioner power to issue a “public assembly restriction declaration” after a suspected terrorist incident has been declared. It can prevent protests and marches from being “authorised” by police or the courts, which can result in prosecution for protesters who obstruct people or traffic in a public place if their protest has not been formally authorised.

Sunday’s protest was one of many in Australian cities to condemn US actions in Venezuela, after news that US forces had forcibly removed Venezuelan president Nicolás Maduro, and claims made by US president Donald Trump that the US would seize direct control of the country and its oil reserves.

Sign up: AU Breaking News email

In Sydney, protesters waved placards that read “Hands off Venezuela” and “Down with imperialism”.

There was also a small group of supporters of Venezuela’s opposition who celebrated the US intervention draped in red, blue and yellow, and brandished photos of Maduro released by the US administration with the word “captured” superimposed across his image.

NSW police said they attended an “unauthorised protest” at around 6pm on Sunday evening in George Street, Sydney, where 250 people were protesting, alongside about 40 counter-protesters.

A 53-year-old woman was arrested for wearing a shirt “displaying offensive messaging”, police alleged.

Two men, one aged 26 and one aged 34, were arrested for alleged breach of the peace.

All three were taken to Day Street police station and released at the conclusion of the protest, police said. No charges have been laid.

Rightwing agitator Drew Pavlou claimed on social media he was one of the men arrested, circulating footage that showed him chanting pro-US slogans amid the protesters before being frogmarched away by a large group of police.

In Melbourne, about 200 people packed the steps of Melbourne’s Flinders Street station, yelling “shame” when speakers said the Venezuelan president had been “kidnapped”.

They brandished banners that read “Release Maduro now! No regime change!” and “No war for oil! Solidarity with the people of Venezuela”.

One speaker said Maduro had been “demonised” and rubbished claims he rigged elections and was connected to drug trafficking.

“It is the clearest-cut case of outright propaganda, and its main role is to soften ordinary people to the idea of regime change in Venezuela,” he told the crowd.

The anti-US protesters said they supported Venezuelans who stood for their sovereignty, and demanded the Australian government cut ties and sanction the US administration.

Victoria police said there were no reported incidents at the event.

Australia is home to more than 6,600 Venezuelan-born residents, with about 10,000 people of Venezuelan ancestry, according to the 2021 census.

The Venezuelan Association of Australia said there would be complex emotions within the diaspora, given many had experienced forced separation from loved ones, exile and the long-term impacts of authoritarian rule.

“In moments like this, our shared hope remains for a free, democratic and united Venezuela where people can live with dignity, safety and opportunity,” the association said.

Prime minister Anthony Albanese has urged all parties to support dialogue and diplomacy to prevent escalation as his government monitors the situation.