Bizarre moment police arrest a naked protester as tensions boil over at 'Invasion Day' demonstration in the heart of Sydney

The Invasion Day march in Sydney has ended in dramatic circumstances with the arrest of a naked female protester. 

Thousands of Sydneysiders marched through the streets of the CBD on Sunday, where they demanded the date of Australia Day be moved from January 26.

Surrounded by a large crowd of shocked onlookers at Victoria Park in Broadway, one woman attracted attention by stripping off her clothes to only be wearing just a pair of socks and scarf around her head.

Photos show the dark-haired woman being spoken to by police.

As temperatures soared into the mid 30s, tensions boiled over as the woman allegedly resisted arrest before she was escorted into the back of police van. 

A woman tried to keep cool at the Invasion Day rally in Sydney - by taking her clothes off

'A woman, 38, was taken to Mascot Police Station, where she was charged with willful and obscene exposure, failing to obey police directions and resisting arrest,' a NSW Police spokeswoman told Daily Mail Australia.

'She was bailed to appear in Downing Centre Local Court on February 17.'

The spokeswoman was unaware of any other arrests at the Sydney rally, despite a high police presence. 

Tensions boiled over as the woman allegedly resisted arrest before she was escorted into the back of police van

Surrounded by police and shocked onlookers, the naked protester was later charged with willful and obscene exposure, failing to obey police directions and resisting arrest

Thousands of others across the nation gathered for protests demanding the date of Australia Day be changed, while the rest of the country celebrates.

Rallies and marches coincided with official events throughout the day with hundreds of people already massed in the CBDs of major cities.

Indigenous South Sydney NRL stars Cody Walker and Latrell Mitchell were among the attendees at the Sydney rally,  who marched from Sydney's Hyde Park to Camperdown.

A protester was arrested in Brisbane after he rushed the stage at the Queens Gardens rally shouting 'who do you think you are'.

He was pushed off the stage in the chaos that followed and led away by police outside the treasury buildings. 

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A young girl holds a protest sign as she marches down Elizabeth Street in Sydney with thousands of others

Numerous banners and signs were carried along with Aboriginal flags held aloft or used as capes and clothing

A rally banner rejects the idea that Captain Cook discovered Australia because there were already Aboriginals living there

Australia Day marks the anniversary of the arrival of the First Fleet of British ships into Port Jackson on January 26, 1788. 

Many protesters at rallies and marches across Australia wore clothing bearing the Aboriginal flag, and carrier signs or banners with anti-Australia Day slogans. 

A rally in Sydney started at 11am in Hyde Park with smoking ceremony before speakers called for the date of Australia Day to be changed.

They also demanded more Aboriginal land ownership and an end to indigenous deaths in custody.