The actor and several colleagues were given three verbal warnings to leave the embassy's premises on Friday (March 16), but were led away in handcuffs by local police when they refused to comply.
Demonstrators gathered outside the embassy this morning to protest Sudan President Omar Hassan Ahmad Al-Bashir's alleged campaign to block international food and aid packages from reaching the Nuba Mountains, reports MSNBC.
The Ides of March star's father Nick Clooney, a prominent journalist, was apparently with the actor at the time of his arrest. Martin Luther King III, NAACP President Ben Jealous and US Congressmen Jim McGovern and Jim Moran were also present for the protest.
Clooney spoke to reporters just before the arrests took place to announce the goal of the Sudanese embassy demonstration.
"The [thing] we're here to ask – it's a very simple thing – is for the government in Khartoum to stop randomly killing its own innocent men, women and children. Stop raping them and stop starving them," Clooney demanded.
He returned from a fact-finding trip to Sudan earlier in the week to testify about the humanitarian crisis before the US Senate Foreign Relations Committee in Washington DC.
The star also lobbied President Barack Obama to take more firm action in the region during a White House meeting on Thursday.
Clooney told reporters after meeting with President Obama that his role in the drive to increase humanitarian aid to the Sudanese people is to "amplify the situation and help to bring a spotlight to it".
Advocates had hoped that the end of Sudan's Civil War in 2005 would cease violence in the country, but the hostilities have continued.
Clooney partnered with the United Nations, Google and Harvard University in 2011 to create the Not On Our Watch project, which monitored Sudan's election via satellites.
Watch footage of George Clooney's arrest below: