The demonstrators chanted slogans against the ruling monarch on Tuesday and denounced the suppression of the protests in the oil-rich Eastern Province.
Earlier on Sunday, Saudi security forces opened fire on passersby and wounded three people, after unknown men stormed a prison in the city.
A two-year-old child and her mother were also among the wounded.
Since February 2011, protesters have held demonstrations on an almost regular basis in Saudi Arabia, mainly in Qatif and the town of Awamiyah in Eastern Province, primarily calling for the release of all political prisoners, freedom of expression and assembly, and an end to widespread discrimination.
However, the demonstrations have turned into protests against the Al Saud regime, especially since November 2011, when security forces killed five protesters and injured many others in the province.
Amnesty International has called on Saudi authorities to stop using excessive force against the protesters.
According to Human Rights Watch, the Saudi regime “routinely represses expression critical of the government.”
Source: Press