The security officers comprising of anti-riot police and the General Service Unit arrived in two lorries and lobbed teargas canisters to repulse the demonstrators who lit bonfires near the entry to the estate at Kibera DC area.
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Businesses were closed and residents locked themselves in their houses to avoid the chaos.
Commuters along the area complained of criminals taking advantage of the situation to rob them of their goods.
"I was taking my customer from Kileleshwa and decided to take this route as a shortcut to Lang'ata. We were accosted by goons who robbed the motorbike and our personal effects," Kariuki said.
Odinga wants the government to address, among other things, the high cost of living and to end discrimination in government appointments.
He dismissed police claims that the protests were illegal. He added that the protests would end only if the government listened to them.
-Photos by Denish Ochieng