A car carrying Boris Johnson was rear-ended by a Range Rover support vehicle after the prime minister's convoy was targeted by a protester.
The man, who had been demonstrating about Turkish action against Kurdish rebels, ran into the road as Mr Johnson left parliament.
If forced the lead vehicles – a police motorbike and Mr Johnson's Jaguar to brake – with the support vehicle crashing into the back of the PM's car.
There was a visible dent as the vehicles immediately drove off towards Downing Street.
Police officers were seen detaining the protester.
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He was arrested for offences under Section 5 of the Public Order Act and for obstructing the highway, the Metropolitan Police said.
Downing Street said there were no reports of any injuries.
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A Number 10 spokesman confirmed Mr Johnson was travelling in the car at the time, adding: "I think the video speaks for itself as to what happened.
"No reports of anybody being injured."
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