It will be a year since the king's coronation today, and gun salutes across the capital will commemorate his reign.
About 100 people attended the rally in Trafalgar Square, London, which was organised by the campaign group Republic, with parallel events in Edinburgh and Cardiff.
Protesters chanted "abdicate, abdicate" in front of two large yellow banners that read "abolish the monarchy" and "change the country for good".
Graham Smith, chief executive of Republic, said the dinosaur represented the anachronism of monarchy. "The fossilised remains should be ina museum where we can have a look at it, and then we can enjoy actually living in a modern democracy," he said.
Smith and other Republic members were arrested last year for taking part in a pre-agreed protest on the day of the coronation. Smith was detained for 14 hours and launched a legal action against the Metropolitan police last year.
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