"We said we would not be in such an operation with you where you ally with terror organizations and so we said good luck", President Recep Tayyip Erodogan said after meeting President Donald Trump in Washington, according to AP. It was unclear if they were members of Mr Erdogan's security or protesters.
Washington's police chief, mayor and several USA lawmakers condemned the violence.
The Turkish security officials were briefly detained at the site of the protest by USA law enforcement for their role in the altercation.
The incident occurred after Erdogan arrived after a White House meeting with President Trump.
Washington's Metropolitan Police Department said it had arrested two U.S. residents, Ayten Necmi, 49, and Jalal Kheirabadi, 42, over the incident, according to the BBC.
"Violence is never an appropriate response to free speech, and we support the rights of people everywhere to free expression and peaceful protest", said the statement.
Witnesses described what happened at the scene.
The protesters said they were demonstrating peacefully until Erdogan's guards and supporters suddenly moved toward them.
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Commenting on the motorist, she said: 'I swear that man saved my life'. "And I thought, 'okay I'm on the ground already, what is the objective to beat me?'"
"We weren't doing anything wrong", said pro-Erdogan demonstrator Mustafa Dikilitas. "We just celebrated our President".
The PKK is considered a terror group by the US and Turkey's Western allies.
Cavusoglu said Turkey received USA assurances that arms sent to the YPG would only be used against IS, without explaining how this would be monitored.
"The actions of your staff violate the constitutional protections of freedom of the press and freedom of assembly enjoyed by all Americans", they wrote in a letter to Turkish President Recep Tayyip Erdogan on Thursday. "The United States recognizes this inviolability, which provides reciprocal protection for the United States overseas".
The State Department also said that acting Deputy Secretary of State Tom Shannon spoke with Turkish Ambassador Serdar Kilic about the fighting that left at least nine injured, including a DC police officer.
"We should throw their ambassador the hell out of the United States of America", McCain said on MSNBC's "Morning Joe". "This isn't Turkey; this isn't a third-world country; and this kind of thing can not go un-responded to diplomatically".
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