Regime forces also fired tear gas and stun grenades to break up the demonstration, which was held in central Manama on Friday.
Another large demonstration called by the opposition al-Wefaq party was staged at a main thoroughfare west of the city earlier in the day.
The Bahraini revolution began in mid-February 2011, when the people, inspired by the popular revolutions that toppled the dictators of Tunisia and Egypt, started holding massive demonstrations.
The Bahraini government promptly launched a brutal crackdown on the peaceful protests and called in Saudi-led Arab forces from neighboring Persian Gulf states.
Dozens of people have been killed in the crackdown, and the security forces have arrested hundreds, including doctors and nurses accused of treating injured revolutionaries.
A report published by the Bahrain Independent Commission of Inquiry in November 2011 found that the Al Khalifa regime had used excessive force in the crackdown and accused Manama of torturing political activists, politicians, and protesters.
The protesters say they will continue holding anti-regime demonstrations until their demand for the establishment of a democratically elected government is met.