The anti-government rally was organized by the main opposition Muslim Brotherhood.
The demonstrators on Friday also demanded stronger government action against corruption and called for better economic conditions in the country.
The Brotherhood's deputy leader Zaki Bin Rushaid said that the new parliament does not represent the majority of Jordanians since the elections were held under an electoral law that favors rural and tribal areas, and under-represents cities where the Brotherhood is strong, Reuters news agency reported.
"Reform is what is required. Justice and freedom and not these sham elections and deputies," protesters chanted.
More than two thirds of Jordan's seven million people live in cities but are allocated less than a third of assembly seats. Muslim Brotherhood boycotted the January 23 parliamentary elections and as a result the new 150-seat assembly is dominated by conservative tribal figures, who are loyal to Jordanian ruler King Abdullah II.
The Jordanian king dissolved the parliament and called early elections in October 2012 in response to growing calls for political reforms and the end to corruption.