The video emerged after US President Donald Trump had welcomed Erdogan to the White House and praised him as an ally in the battle against Islamic extremism in the middle-east. They could see the protestors and their placards- and made a decision to "disperse them".
The US police also branded the incident as a "brutal attack" on peaceful protesters.
Close-up footage shared on social media showed the bodyguards dressed in suits beating and punching people in the crowd.
"The police involvement in that case was very dicey because there were some people up there that had firearms, and they had to safely restore order".
Two men were arrested at the scene, and police intend to pursue charges against others involved, the Metropolitan Police Department said Wednesday.
"Violence is never an appropriate response to free speech, and we support the rights of people everywhere to free expression and peaceful protest", State Department spokeswoman Heather Nauert said in a statement.
The protesters said they were demonstrating peacefully until Erdogan's guards and supporters suddenly moved toward them. While we're still learning details about what occurred, disturbing videos show members of Erdogan's security team turning on the protesters. "We would just take the step".
Turkey also accused the protestors of belonging to a terror group known as the PKK.
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The visit was also marred by a violent attack on protesters outside the Turkish ambassador's residence in Washington on Tuesday that US officials said was carried out by Erdogan's presidential guards.
Several Republican lawmakers shot back, decrying the violence and demanding that Turkey apologize for the incident.
Police said the fighting outside the Turkish ambassador's residence on Tuesday injured 11 people, including a Washington police officer, and led to two arrests for assault.
"We should throw their ambassador the hell out of the United States of America ..."
The statement said that the USA communicated its concerns to the Turkish government "in the strongest possible terms".
Meanwhile, U.S. Senator John McCain, one of the leading foreign policy voices in Congress, on May 18 urged the expulsion of Turkey's U.S. ambassador after violence erupted between protesters and Turkish security personnel during President Recep Tayyip Erdoğan's recent visit.
"We should throw their ambassador the hell out of the United States of America", McCain told MSNBC's "Morning Joe" on Thursday.
Turkey regards the YPG as an extension of the outlawed Kurdistan Workers Party (PKK), which is deemed a terrorist organisation by the United States, Turkey and the European Union.