Organized by campaign group Republic, the third annual Republic Day saw hundreds march on Buckingham Palace in London and the Palace of Holyrood house in Edinburgh.

The protests come after a wave of revelations about the extent of Andrew Mountbatten-Windsor's close relationship with convicted paedophile Jeffrey Epstein.

In February he was arrested amid allegations of suspicion of misconduct in public office after files released in the US from an FBI investigation into Epstein suggested the royal had passed the sex offender private government information while working as a UK trade envoy.

Mountbatten-Windsor was stripped by the King of both his right to be a prince and his dukedom late last year over his association with paedophile. 

Andrew has denied any wrongdoing.

In London, the rally started on Trafalgar Square before more than 300 people marched down The Mall accompanied by Chuck the Rex, a 15ft dinosaur mascot symbolizing the "outdated relic of the monarchy".

In Edinburgh, protesters rallied outside the Scottish Parliament and Holyroodhouse, which are located at the foot of the Royal Mile, a historic street that connects Edinburgh Castle to Holyrood.

In both cases the march included several speakers and music performances, with Otto English, Narinder Kaur, Robin Ince, Sooz Kempner speaking in London.

In Edinburgh, Green councilor Alex Staniforth, inequalities and disability campaigner Bill Scott, and SNP councilor Graham Campbell were among the speakers.

Performances from Edinburgh-based singer Rue Cooper, and Aberdeenshire folk artist Iona Fyfe were also heard.

Speaking for Republic, Graham Smith said at the London march: “The monarchy is in big trouble. Their support is now regularly under 50%."

"The Andrew scandal has damaged them irreparably. Andrew, William and Charles are all dodging serious questions."

"That's why we marched directly to the gates of Buckingham Palace today. We're confronting the royals head-on and won't stop until the monarchy is ditched and we can all choose our head of state."

"Our message is clear. Charles and William, what did you know? What are you hiding? It's time for answers. It's time to abolish the monarchy."