Two pro-Israel demonstrations in major British cities have passed off peacefully after violence marred a protest on Saturday against the country's military action in Gaza.

Speakers at both rallies defended Israel's right to protect itself, to the approval of thousands of supporters.

Organisers of an event in London's Trafalgar Square said there were 15,000 people, though police put numbers at 4,000.

More than 2,000 people attended an event outside Manchester Town Hall.

In both cases, small groups of counter-demonstrators barracked from the sidelines.

The rallies followed disorder outside the Israeli Embassy in Kensington, London, on Saturday.

More than 20 people were arrested and bailed following the violence, with the total expected to rise in the coming days.

Thousands of supporters of Israel gathered in London's Trafalgar Square on Sunday to "reclaim the public space" from their political opponents.

Henry Grunwald, president of the Board of Deputies of British Jews, told the crowd: "The atmosphere on the streets of London has been very unpleasant in the last few days, we felt it important to reclaim the public space and make our voices heard.

"We want the people of Israel to have peace, and the people of Gaza to have peace."

Israeli ambassador Ron Prosor said: "The basic simple goal of the people of Israel is to be allowed to live in peace, without violence, without fear, and without terror.

"Instead of walking down a path of peace, Hamas has led its people down a dead end road of war."

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