Demands for full civilian rule are ongoing after an agreement reinstating civilian Prime Minister Abdalla Hamdok.
Sudanese security forces have fired tear gas to disperse pro-democracy protesters near the the presidential palace in the capital, Khartoum, according to witnesses.
The rally on Tuesday was the latest show of opposition to military rule since last monthâ€™s coup that ended a partnership between civilian political groups and the military.
Army chief General Abdel Fattah al-Burhan on October 25 dissolved the countryâ€™s transitional government as security forces detained dozens of politicians, including civilian Prime Minister Abdalla Hamdok. However, after international condemnation and mass protests, al-Burhan reinstated Hamdok in a November 21 deal that was slammed by the countryâ€™s pro-democracy movement that was against the militaryâ€™s involvement in politics.
Medics say dozens of people were killed as security forces sought to crush weeks of anti-coup demonstrations, with resistance committees continuing to organise even after Hamdokâ€™s release from house arrest and return to his post last week.
Reporting from Khartoum, Al Jazeeraâ€™s Hiba Morgan said armoured vehicles had been positioned to prevent the crowds from reaching the presidential palace.
â€œPeople are still angry,â€ Morgan said. â€œThey say the fact that Prime Minister Abdalla Hamdok agreed to negotiate and sign a deal with the military is a betrayal,â€
Hamdok has said the deal will result in the release of dozens of detainees, end a crackdown on protesters and preserve billions in foreign aid.
He has pledged to introduce a â€œtechnocratic governmentâ€ of qualified professionals who will lead the country on a path to democracy.
In an exclusive interview with Al Jazeera, Hamdok said the new government would be independent and that the cabinet currently being formed would focus on establishing a constitutional conference and holding elections by June 2023, to complete â€œthe transition to democracy and its related obligationsâ€.
The 14-point deal between Hamdok and the military also provides for the release of all political prisoners detained during the coup and stipulates that a 2019 constitutional declaration be the basis for a political transition.
Last week, the deputy head of Sudanâ€™s governing sovereign council, General Mohamed Hamdan Dagalo, who is widely known as Hemeti, told Al Jazeera in an interview that Hamdok had been aware of last monthâ€™s military takeover before it happened and was â€œcompletely agreeableâ€ to it.
Referencing top military generals, the resistance committees said on Monday that they â€œdo not differentiate between Hamdok or al-Burhan or Hemeti and the rest of the generals, they are all participants in the coup and belong in the gallowsâ€.
Western powers have condemned last monthâ€™s takeover and suspended economic assistance to Sudan, which has been trying to recover from a deep economic crisis.