The protest turned into a march through the city and ended peacefully around 8 p.m.
People in the crowd held signs with strong messages against ICE and the Trump administration. Others held candles and photos of Renee Good, the 37-year-old woman who was shot and killed by an ICE agent in Minneapolis on Wednesday.
"This is an extraordinary outpouring of love and grief and care and rage for a society that has gone haywire because of this level of extremism," said State Rep. Chris Rabb.
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"I didn't like what I saw, and it broke my heart," added Laura Torres of Northeast Philadelphia, referring to the video showing the shooting of Good, which has sparked protests across the country.
The Trump administration has defended the officer's actions, saying Good was attempting to hit the agent.
Homeland Security Secretary Kristi Noem said, "He acted appropriately to protect his life and the life of his colleagues and fellow law enforcement officers that were there and people that were surrounding."
Peter Pedemonti, co-director of the New Sanctuary Movement of Philadelphia, said he was "heartbroken" by the incident.
New Sanctuary Movement advocates for immigrant rights and educates residents about their legal protections during encounters with ICE.
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"They do not have a right to enter your house unless they have a warrant signed by a judge," Pedemonti said.
The message from the protesters went beyond the Minneapolis incident, with many calls to abolish ICE altogether.
"We're here because we know what ICE does. It hurts our communities. It kidnaps people. It kidnaps children under the age of 18 from their schools. It kidnaps people from their places of work and so on and so on. And we're saying ICE will end now because we are going to melt that ice," said Asantewaa Nkrumah-Ture
One of the speakers, Anita Raihan from No ICE Philly, said, "If you do not act, it will happen here. And if you do not act, ICE will continue to kidnap and disappear members of our community every single day."
Immigration advocacy groups helped organize the gathering.
Philadelphia groups hold vigil as officials condemn ICE after Minneapolis shooting
Members of the New Black Panther Party were also present, carrying rifles. They joined the smaller group that continued marching after the main protest dispersed, followed closely by police on bikes and in patrol cars.
At one point, something burned at the center of a circle of protesters; witnesses said it was an American flag.
Tim Fleming of Delran was surprised. "I accept their right to do that, I just don't like it," he said. "I came here with the American flag because I believe that the American flag should be a symbol to protest against ICE and against Trump for democracy so I don't love to see it burned."
Philadelphia Assistant District Attorney Caleb Arnold said that while laws for complying with ICE demands while driving can vary by state, "(ICE agents) don't have a right to ask a U.S. citizen to stop their car."
Advocates at the vigil also encouraged bystanders to record ICE interactions.
"I think it's important not only to show up for our neighbors, but also that people keep showing up to say this is not OK," Pedemonti said. He described the moment as "a catalyzing moment when people are coming together."
Organizers said they plan to continue demonstrations every Monday morning outside the local ICE field office.
Earlier on Thursday, city leaders also sent a bold message to federal immigration authorities.
"Don't even try this in Philly," said Philadelphia District Attorney Larry Krasner.
READ MORE | 37-year-old-woman killed in ICE-involved Minneapolis shooting identified
He delivered a strong warning to Immigration and Customs Enforcement (ICE) following the fatal shooting.
"Do you hear me ICE agents? You're going to jail if you commit crimes in the city of Philadelphia," Krasner added.
Krasner was joined by law enforcement officials, immigration advocates and faith leaders who accused the Trump administration of using immigration enforcement as a weapon.
Councilmember Kendra Brooks said, "We are doing everything in our power to prevent ICE from murdering anyone here in Philadelphia."
Philadelphia Sheriff Rochelle Bilal added, "Law enforcement professionals do not stand in front of moving vehicles evoking an action that is illegal. No, we don't."
Immigration advocates continue to urge city leaders to reaffirm Philadelphia's status as a sanctuary city. City Council members who appeared with Krasner said they expect to discuss local policies and plans related to ICE in the coming days and weeks.