Protesters shouted "no justice, no peace" and chanted that police were "murderers" as they marched through north London to mark the fifth anniversary of Mark Duggan's death.
Around 300 people joined a demonstration at the Broadwater Farm estate in Tottenham on Saturday to take their message to the street that black lives matter.
They accused the police of racism and demanded justice for black people who died in controversial circumstances - including Jermaine Baker, who was shot by police as he waited with gang members to free a criminal from a prison van last year, and others such as Cynthia Jarrett, Joy Gardner and Roger Sylvester.
Among the protesters were Duggan's mother Pamela and his aunt Carole, who marched alongside Baker's mother. Carole Duggan said: "We are doing it to show the country that we are not this gangster family. We are trying to show the people who Mark really was, who we really are."
She said there had been a "systematic smear campaign" against his name, and slated as "perverse" an inquest verdict from 2014 that found his death on August 4 2011 at the hands of a police marksman was lawful.
The death triggered riots across the capital in which shops were looted, buildings set alight and there were stand-offs with police. It quickly spread to other parts of the country, including Birmingham, Bristol and Manchester over the following few days.
But Duggan said in the intervening years the police had failed to learn any lessons and accused them of wanting to adopt a violent "American style" of policing in London.
As the demonstrators marched through the streets they carried placards saying "jail racist cops" and "white silence kills", and chanted slogans such as "Whose streets, our streets" and "Hands up, don't shoot". After a minute's silence community representatives spoke of their frustrations and anger.
Two officers walked ahead of the march, and when the demonstration reached the High Road in Tottenham - which police had closed to keep people safe - the protest made for the police station, where five years ago to the day Duggan's family went to report his death.