A man has been arrested after spending more than 16 hours barefoot and holding a Palestine flag while perched on the clock tower of Big Ben.
Pictures from the scene showed the man being lifted to the ground in a cherry picker.
Emergency crews had been at the scene with dozens of uniformed police officers guarding the cordon which extended from Bridge Street to Westminster Bridge.
Two aerial ladder platforms, an incident response unit ambulance, regular ambulances and two fire engines were also present late yesterday.
Westminster Police said the man was arrested once he reached the ground.
A statement from the force said "The man has now been arrested.
"This has been a protracted incident due to the specifics of where the man was located and the need to ensure the safety of our officers, the individual and the wider public.
"We worked with other agencies including the London Fire Brigade and deployed specialist officers to bring this incident to a close as quickly as possible whilst minimising risk to life," it said.
"We have been in close liaison with the Parliamentary Estate throughout and all roads have been reopened," it added.
Read more: Man scales Big Ben building in London holding Palestinian flag
In a video posted on Instagram yesterday evening, the man told negotiators from the ledge he was sitting on that he would come down "on his own terms".
In the footage, negotiators on an aerial ladder platform appear to raise concerns about an injury to his foot, saying there is "quite a lot of blood" and that his clothes were not warm enough as temperatures dropped after sunset.
But the man insisted he is safe, saying "I will come down on my own terms, I have said this. But right now I am saying I am safe.
"If you come towards me you are putting me in danger and I will climb higher," he added.
In the afternoon, shouts of "Free Palestine" and "You are a hero" could be heard from a small group of supporters behind the police cordon at Victoria Embankment.
In videos posted on social media earlier yesterday, the man appeared to climb over a fence surrounding the Houses of Parliament without any security guards approaching him.
Conservative MP Ben Obese-Jecty said on X there needs to be an explanation about how the man got into the parliamentary estate.
He said, "Every day in Parliament I see dozens of armed police officers patrolling Portcullis House and the parliamentary estate. Where were they today?
"On Monday there needs to be a full explanation to MPs and staff as to how this protester was able to evade security so easily," he added.
Parliamentary tours, which happen on Saturdays when Parliament is sitting and on weekdays during the summer recess, were cancelled.
A parliamentary spokesperson said "We are aware of an incident on the parliamentary estate, which is being handled by the Metropolitan Police, assisted by the London Fire Brigade and the London Ambulance Service.
"Parliament takes security extremely seriously, however we do not comment on the specifics of our security measures or mitigations," they added.
London bus routes 3, 11, 148, C10 and 159 remained on diversion as the road closures continued.
In 2019, an Extinction Rebellion activist wearing a blond wig was arrested after climbing the scaffolding surrounding the clock tower.
Tree surgeon Ben Atkinson climbed the scaffolding surrounding Big Ben dressed as Boris Johnson - complete with a blond wig, shirt, jacket and tie - and was up Elizabeth Tower for around three and a half hours on 18 October 2019, before police managed to get him to come down.
