Around 20 disability campaigners have staged a protest in the Central Lobby of Parliament during Prime Minister's Questions.
The demonstrators chanted "No more death from benefit cuts" and brandished a banner asking"Is this how 2 treat disabled people?"
Police officers lined up to prevent any attempt by the protesters to gain access to the Commons chamber but there was no immediate attempt to remove them.
Protester Martin Tolley, from Ipswich, said they were protesting against cuts to the employment support allowance which would cost claimants £30 a week.
He said Prime Minister David Cameron and Chancellor George Osborne had wrongly said that only new claimants would be affected, when they would all lose out.
"These people have Parkinson's disease, they have muscular dystrophy, they can't work," he said.
"They are going to cut their support to incentivise them into work. They just don't have a clue. They live in their Westminster bubble. They have got blood on their hands."
Claire Glasman - who uses a wheelchair - from the WinVisible campaign, said that despite the Government's decision to cancel the cut in personal independence payments (PIPs), overall benefits for the disabled had been reduced by £2 billion.
"People have had to give up waged work because they are not able to get to work any more. It's been an absolute disaster," she said.
"The welfare reforms have terrified people and given us insecurity. We want all of those cuts reversed. They have backed down on a tiny proportion of the devastation they have wrought on the welfare state."
Half an hour after Prime Minister's Questions, the demonstrators - some wearing Vote Corbyn badges - left the Parliament building closely followed by police.
A spokesman for Labour leader Jeremy Corbyn told reporters: "That lobby activity was advertised as a protest against unfair cuts against disabled people over the last six years. We stand up for disabled people. We've opposed the cuts in the Budget which has unravelled. The way they have made cuts has been unacceptable."
Asked whether Mr Corbyn thought it was appropriate for protests to be staged within Parliament, the spokesman said: "I know there's a protest, and people are entitled to protest."