Rocks were hurled at riot police who responded with volleys of tear-gas outside the Haitian National Palace in the capital Port-au-Prince.
Hundreds of protesters said they wanted to see a withdrawal of the UN troops who have helped keep order in Haiti since political violence engulfed the country in 2004.
Protests were sparked by the alleged sexual assault of an 18-year-old Haitian man by UN peacekeepers from Uruguay in the southwestern town of Port-Salut in July.
The alleged assault was filmed on a mobile phone and the footage posted on the internet.
As a result of the scandal, Uruguay sacked its naval commander with the mission and ordered the repatriation of the five men.
The UN has 12,000 military and police personnel in Haiti and it is expected that Haitian President Michel Martelly will ask for a renewal of the mission's mandate when it expires next month.